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In this paper the sliding mode controller is designed using the reaching law approach. The system model considers the time-varying uncertainties and the unknown, external disturbances. The main idea is to guarantee that the state limitations (in form of linear combinations) hold for the whole regulation process. Moreover, the control signal restriction is taken into account and the chattering on the boundary of the admissible set is fully eliminated. Furthermore, the controller ensures fast, monotonic and finite-time convergence of the representative point to the switching hyperplane.

Sliding Mode Control With Limits on the Control Signal and Linear State Combinations