“…In survey paper (Hung et al, 1993) the various type of reaching conditions, variable structure control laws, switching schemes and its application in industrial systems is reported by J. Y.Hung, Gao and J.C.Hung. The implementation of a tracking variable structure controller with boundary layer and feed-forward term for robotic arms is developed by Xu, Hashimoto, Slotine, Arai and Harashima (Xu et al, 1989).A new fast-response sliding mode current controller for boost-type converters is designed by Tan, Lai, Tse, Martinez-Salamero and Wu (Tan et al, 2007). By constructing new types of Lyapunov functionals and additional freeweighting matrices, some new less conservative delay-dependent stability conditions for uncertain systems with constant but unknown time-delay have been presented in (Li et al, 2010) and its references.…”