A reversible rotation of smectic layer in ferroelectric and antiferroelectric chiral smectic C phases has been investigated as a function of a waveform of applied voltage pulses and cell geometry. The layer rotation is caused by applying asymmetric voltage pulses and the rotation direction depends on the waveform of pulses and the sign of spontaneous polarization. In addition, the reversible layer rotation in the smectic A phase has been observed by applying asymmetric voltage pulses and interpreted in terms of electroclinic effect. The layer rotation in the chiral smectic C phase of the ferroelectric liquid crystal doped with ionic impurity has been also found by applying DC voltage.