“…Variable structure control (VSC) with sliding mode, or sliding-mode control (SMC), is one of the effective nonlinear robust control approaches, because it provides system dynamics with an invariance property to uncertainties once the system dynamics are controlled in the sliding mode [11], [12], [15], [16], [17], [18], [19], 20]. The first step of SMC design is to select a sliding surface that models the desired closedloop performance in state variable space.…”