Integral High-Order Sliding Modes

@article{Levant2007IntegralHS,
  title={Integral High-Order Sliding Modes},
  author={Arie Levant and Lela Alelishvili},
  journal={IEEE Transactions on Automatic Control},
  year={2007},
  volume={52},
  pages={1278-1282}
}
Integral sliding mode approach is extended to high-order sliding modes (HOSMs), and allows choosing transient dynamics, or assigning a transient-time function of initial conditions. The resulting controller is robust and capable of controlling outputs of uncertain smooth SISO systems of a known permanent relative degree. The control smoothness can be deliberately increased. 
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