... a linear state feedback. The main property of proposed controller is that it does not need an upper bound for the uncertainty and identified model; moreover, the switching gain increases and decreases according to the system circumstance by employing an adaptive procedure. Then, chattering is removed...

... the discontinuous first-order derivative of a control variable u ̇ c ( t ) , and the corresponding actual control variable u c ( t ) turns out to be continuous, which significantly reduces the undesired chattering. Its sliding gain is adjusted by a novel radial basis function network based adaptation method derived...