“…It is proved that an SMC with a nonlinear sliding surface is able to reduce the tracking error [32] and give high performance, high robustness, a good transient and effective disturbance rejection [33][34][35][36]. In [26,37], the authors showed through computer simulations that the chattering phenomenon is practically eliminated and the nonminimum phase problem is solved by an SMC based on a nonlinear surface slightly different from the SMCNL developed in this paper. Indeed, in [37], computer simulations were presented while the present work aims mainly at implementing the two control laws based, respectively, on a nonlinear and a linear sliding surface and validate the obtained result.…”