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This is an intuitive introduction to classic sliding mode control that showshow the associated assumptions and condition for its use arise in the contextof a derivation of the method. It derives a controller that obviates the needfor the assumption of any sign for the control input vector, answers why it issaid that it deals only with matched disturbances and why a system that it mayapply to 'must' be linear in the control signal. Additionally, it may be viewedas an example of how a control design method might be developed, adding to itspedagogical usefulness.

Classic Sliding Mode Control From First Principles