A control engineer’s guide to sliding mode control

Abstract—This paper presents a guide to sliding mode control for practicing control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research. Index Terms — Discrete-time systems, multivariable systems, nonlinear systems, robustness, sampled data systems, singularly perturbed systems, uncertain systems, variable structure systems. I