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.

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.

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