Integral high-order sliding modes

Arie Levant*, Lela Alelishvili

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


Integral sliding mode approach is extended to high-order sliding modes (HOSMs), and allows choosing transient dynamics, or assigning a transient-time function of initial conditions. The resulting controller is robust and capable of controlling outputs of uncertain smooth SISO systems of a known permanent relative degree. The control smoothness can be deliberately increased.

Original languageEnglish
Pages (from-to)1278-1282
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number7
StatePublished - Jul 2007


  • Finite-time stability
  • High-order sliding mode
  • Output feedback control
  • Robustness


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