A Sliding Mode Controller with Improved Adaptation Laws for the Upper Bounds on the Norm of Uncertainties

@article{Wheeler1998ASM,
  title={A Sliding Mode Controller with Improved Adaptation Laws for the Upper Bounds on the Norm of Uncertainties},
  author={Graham Wheeler and Chun-Yi Su and Yury Stepanenko},
  journal={Automatica},
  year={1998},
  volume={34},
  pages={1657-1661}
}
In this paper an improved adaptation law on the upper bound of uncertainties is proposed to guarantee the boundednenss of both states of the plant and the estimated control gains when the boundary layer technique is employed. ( 1998 Elsevier Science Ltd. All rights reserved. 
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