A unifying design of sliding mode and classical controllers

A theory is given to unify output sliding-mode control and classical control. The idea is based on defining the sliding variable in such a way that once the system begins to slide, the classical controller transfer function is realized. This idea leads to the development of a hybrid sliding-and-classical controller which retains the merits of both types of controllers but eliminates their respective limitations. The proposed method is robust and applies to non-minimum-phase single-input, single-output (SISO) systems. No state measurement is required