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Sliding mode control evolved from pioneering work in the 1960’s in the former Soviet Union , , , . It is a particular type of Variable Structure System (VSS) which is characterised by a number of feedback control laws and a decision rule. The decision rule, termed the switching function, has as its input some measure of the current system behaviour and produces as an output the particular feedback controller which should be used at that instant in time. In sliding mode control, Variable Structure Control Systems (VSCS) are designed to drive and then constrain the system state to lie within a neighbourhood of the switching function. One advantage is that the dynamic behaviour of the system may be directly tailored by the choice of switching function - essentially the switching function is a measure of desired performance. Additionally, the closedloop response becomes totally insensitive to a particular class of system uncertainty. This class of uncertainty is called matched uncertainty and is categorised by uncertainty that is implicit in the input channels. Large classes of problems of practical significance naturally contain matched uncertainty, for example, mechanical systems , , and this has fuelled the popularity of the domain.