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A Lyapunov approach to constructing switching surfaces for variable structure systems is investigated in this paper. The method guarantees sliding mode for any initial condition of the state vector and asymptotic stability is always achieved during sliding motion. An application for  the design of  a variable structure ship steering controller is carried out and  simulation results are presented. The designed controller exhibits robustness as applied to a linear time-invariant ship model and a time varying non-linear  ship model operating in  an uncertain and  time-varying environment.

Variable Structure Controller for Surface Ship Steering