In paper we consider novel approach to sliding mode realization when unremovable imperfections of actuators taking into account. According to this problem, the output variable has oscillation component (chattering) and static component (bias). It is shown that chattering can be suppressed by using high frequency modulation signal. Integral nonlinear feedback let us to compensate bias. Proposed approach has universality property and can be used to solve many problems conjoined with sliding mode control.