“…Their idea assumes selecting a sliding hyperplane (Luis-Delgado et al, 2017), which ensures stable steady state behaviour, and describing the sliding variable with a function, which drives the representative point to the chosen plane. Several researchers have worked to improve Gao's control strategy (Bartoszewicz, 1996;Ren et al, 2013;Veselic et al, 2010;Qu et al, 2014) and numerous new reaching laws have been proposed (Bartoszewicz,1998;Leśniewski and Bartoszewicz, 2015;Bartoszewicz and Leśniewski, 2016;Latosiński, 2017;Latosiński and Bartoszewicz, 2018;Monsees and Sherpen, 2001;Vivekanandan et al, 2008;Golo and Milosavljewic, 2000;Niu et al, 2010;Ma et al, 2017;Zhang, 2016;Chakrabarty and Bandyopadhyay, 2015; 2016; Chakrabarty and Bartoszewicz 2016) ever since. In our work we propose a new, reference trajectory following sliding mode control strategy.…”