On the Sliding Control

In this chapter, we give an overview of the sliding mode control. Firstly, We are interested to the sliding mode control and different solutions for reducing the chattering phenomenon have been given. Then, we have introduced the generalized sliding mode control where the discontinuity is applied to the highest derivative of the control if the system presents zero dynamics. Finally, we present the high order sliding mode control as a solution to reduce the chattering phenomenon while keeping the robustness against external disturbances and parametric variations compared to that provided by the first order sliding mode control approach.

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