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Sliding mode control, also known as variable structure control, is an important robust control approach and has attractive features to keep systems insensitive to uncertainties on the sliding surface. For the class of systems to which it applies, sliding mode controller design provides a systematic approach to the problem of maintaining stability and consistent performance in the face of modeling imprecision. On the other hand, by allowing tradeoffs between modeling and performance to be quantified in a simple fashion, it can illuminate the whole design process. Sliding mode schemes have become one of the most exciting research topics in several fields such as electric drives and actuators, power systems, aerospace vehicles, robotic manipulators, biomedical systems, etc. In its earlier approach, an infinite frequency control switching was required to maintain the trajectories on a prescribed sliding surface and then …