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The design conditions of traditional terminal sliding surface for second order system are raised, and proved the singular phenomenon is inevitable when use the traditional terminal sliding mode surface. A new nonsingular terminal sliding mode surface is proposed for second order nonlinear dynamic system with external disturbance. The time of reaching this kind of TSM from any initial system state...
A new reaching law of sliding mode control is proposed. It is an efficient technique to reduce the chattering and to guarantee a good robustness of systems by using time-variable boundary layer. The design approach is much simpler than other approaches of time-variable boundary layer reaching law. The simulation results show that the novel control strategy is effective and feasible.
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