Accuracy of some popular non-homogeneous 2-sliding modes

Arie Levant, Shihua Li, Xinghuo Yu

Research output: Contribution to journalArticlepeer-review


Asymptotic accuracy of nonsingular terminal sliding modes and 2-sliding modes with prescribed convergence law is calculated in the presence of small sampling periods and measurement errors. The controllers are shown to have practically equivalent performance.

Original languageEnglish
Article number6493399
Pages (from-to)2615-2619
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number10
StatePublished - 2013


  • Finite-time stability (FTS)
  • nonlinear systems
  • sliding mode (SM) control
  • terminal sliding mode
  • uncertain systems


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