Sliding mode control based on the reaching law approach — A brief survey

This paper presents a concise survey on reaching law based sliding mode control. The goal is to highlight the most important developments related to reaching laws for both continuous time systems and discrete time ones. First, origins of reaching law methodology for continuous time systems are brought up and essential properties of these control methods are discussed. Advances in continuous time reaching laws are subsequently surveyed and several examples of such strategies are given. Then, discrete time reaching laws are reviewed. Furthermore, the division between switching type and non-switching type discrete reaching laws is elaborated upon and examples from both categories are provided.