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Sliding Mode Control (SMC) is a unique control strategy that emerged from Variable Structure Control. The chattering in 1-Sliding Mode Control was a major limitation in real world applications in spite of its proven superiority in handling disturbances and uncertainties. The Higher-Order Sliding Mode(HOSM) methods gained popularity with their ability to eliminate chattering. But the current literature available on HOSM is overly complex and difficult to grasp for a practicing engineer. The purpose of this paper is to present the concept in a simplified manner. A reaching law based approach for designing 2-sliding controller is explained and evaluated with examples.
Date of Conference: 14-17 March 2010