This paper presents, in a tutorial manner, the design of variable structure control WSC) systems for a class of multivariable nonlinear time varying systems. By the use of the Utkin-DraienoviC "method of equivalent control" and generalized Lyapunov stability concepts, VSC design is described in a unified manner. Complications that arise due to multiple inputs are then described and several approaches useful in overcoming these complications are then developed. After this, the paper investigates recent developments and the kinship of VSC and the deterministic approach to the control of uncertain systems. All points are illustrated by numerical examples. In addition, the recent VSC applications literature is surveyed.

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