“…chattering effect (Levant, 2010), (Utkin et al, 1999), (Vukić et al, 2003). To avoid discontinuity in control signal and high heat and energy losses which cause this chattering, various modified variable-structure control methods with a continuous signal (Hashimoto et al, 1987) or saturation function (Bastidas, Vinante, 1997), (Mujanović, 1997), (Myszkorowski, 1990), (Perruquetti, Barbot, 2002), (Yu et al, 2005) are proposed. As a drawback, the ultimate accuracy and robustness of the sliding mode are partially lost (Perruquetti, Barbot, 2002).…”