“…The main properties of SMC control are the appropriate transient performance, robustness against a large class of perturbations and uncertainties, and the possibility of stabilizing particular complex nonlinear systems, which are hard to stabilize using continuous state feedback control [21,22]. SMC has been applied to many plants, such as electrical motors [23], automotive system [24], aircraft [25], complex networks [26], spacecraft [27], flexible space structures [28], power systems [29], chaotic systems [30][31][32], underwater vehicles [33], robotic manipulators [34], and some of industrial processes [35]. In [36], a SMC approach is presented to stabilize a class of underactuated systems, which are represented in cascaded form.…”