Comments on “Adaptive multiple-surface sliding control for non-autonomous systems with mismatched uncertainties”

This note points out that the time complexity of the main multiple-surface sliding control (MSSC) algorithm in Huang and Chen [Huang, A. C. & Chen, Y. C. (2004). Adaptive multiple-surface sliding control for non-autonomous systems with mismatched uncertainties. Automatica, 40(11), 1939–1945] is O ( 2 n ) . Here, we propose a simplified recursive design MSSC algorithm with time complexity O ( n ) , and, using mathematical induction, we show that this algorithm agrees with this MSSC law.