1 Introduction

1.1 Parameters of Sliding Surface Design

1.2 Sliding Mode Control Based on Reaching Law

1.2.1 Classical Reaching Laws

1.2.2 Controller Design

1.3 Robust Sliding Mode Control Based on Reaching Law

1.3.1 System Description

1.3.2 Simulation Example

1.4 Sliding Mode Robust Control Based on Upper Bound

1.4.1 System Description

1.4.2 Controller Design

1.4.3 Simulation Example

1.5 Sliding Mode Control Based on Quasi-Sliding Mode

1.5.1 Quasi-Sliding Mode

1.5.2 Simulation Example

1.6 Sliding Mode Control Based on the Equivalent Control