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Downloaded Fthe switching action of the sliding mode controller may be com-bined with a continuous input signal that would compensate the dynamics of the system by using an estimated model. In such applications, the sliding mode control action is used to correct the predicted estimates of the system dynamics. The subsequent con-trol action resulting from sliding mode is determined by the level of uncertainty in the prediction model @12,13#. The sliding mode concept has been used for state and derivative k Calculation step index 131 Kk VSF gain n31 m Number of measurements 131 n Number of states 131 p Number of inputs 131 S Switching surface m31 sat Saturation function sgn Vector sign function sgn Matrix sign function sgn Scalar sign function u Input m31 vec Any vector v, Vmax Measurement noise and its upper bound m31 W, Wmax System noise and its upper bound n3