Titlebook: Advances in Variable Structure and Sliding Mode Control; Christopher Edwards,Enric Fossas Colet,Leonid Frid Book 2006 Springer-Verlag Berl

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Sliding Mode Multimodel Control, The sliding mode design approach usually consists of two steps [1],[2]. First, the switching surface is designed such that the system motion on the sliding mode satisfies design specifications. Second, a control law is designed making the switching surface attractive to the system state.

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Variable Structure Control Systems using Sectors for Switching Rule Design,2] have been proposed. With any method mentioned above, a VS control law should be designed such that the system enters the boundary layer, or the second order sliding mode, or the sliding sector, i.e., a reaching phase is necessary for VS control systems.