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Spindle speed variation (SSV) is a well-known effective and flexible technique to suppress chatter vibration by disrupting regenerative effect. In most research, the SSV is properly designed by a large number of complex stability simulations including identification of machine dynamics with time consumption or costly experiments while varying design parameters; hence, this approach cannot be on-line or integrable in the machine tools for autonomous self-suppression of chatter vibration. This paper presents a programmable optimal design methodology for sinusoidal spindle speed variation (SSSV), which only requires measuring the chatter frequency and can incorporate the machine constraints into the design procedure. The design concept is based on the minimization of kinematic internal process energy balance during SSSV cycle for efficient chatter energy dissipation. For this purpose, the modulation index …