“…At a glance in the literature, it is understood that there are many works in the field of SMC for 1-D continuous and discrete time systems. (see Utkin, 1977;Asada & Slotine, 1986;Hung et al, 1993;DeCarlo et al, 1988;Wu and Gao, 2008;Furuta, 1990;Gao et al, 1995;Wu & Juang, 2008;Lai et al, 2006;Young et al, 1999;Furuta & Pan, 2000;Proca et al, 2003;Choa et al, 2007;Li & Wikander, 2004;Hsiao et al, 2008;Salarieh & Alasty, 2008) Furthermore SMC has been contributed to various control methods (see for example Hsiao et al, 2008;Salarieh & Alasty, 2008) and several experimental works (Proca et al, 2003). Recently, a SMC design for a 2-D system in RM model has been presented (Wu & Gao, 2008) in which the idea of a 1-D quasi-sliding mode (Gao et al, 1995) has been extended for the 2-D system.…”