1 An Introduction to Sliding Mode Controllers -- 1.1 Introduction -- 1.2 Advantages and Limitations of Sliding Mode Controllers -- 1.3 An Overview of Book Contents -- References -- 2 Classic Sliding-Mode Controller -- 2.1 Introduction -- 2.2 Variable-Structure Controllers -- 2.2.1 Industrial Variable-Structure Controllers -- 2.2.1.1 Relays -- 2.2.1.2 Feedback Control with Switching Gains -- 2.2.1.3 Sliding Mode Controlers -- 2.3 Classic Sliding Mode Controllers -- 2.4 Controller Design -- 2.5 Sliding Mode Controller Design -- 2.5.1 Reaching Phase -- 2.5.2 Sliding Phase -- 2.6 Theoretical Foundations of Sliding Mode Control -- 2.7 Designing Sliding Mode Controller for Second Order Uncertain Systems -- 2.7.1 System Dynamical Model -- 2.7.2 Sliding Surface Determination -- 2.7.3 Designing Nominal Controller -- 2.7.4 Designing the Variable Structure -- 2.8 Classical Sliding Mode Controller Design in MATLAB -- References -- 3 Terminal Sliding Mode Controller -- 3.1 Introduction -- 3.2 Terminal Sliding Mode Controller Design -- 3.3 Nonsingular Terminal Sliding Mode Controller -- 3.4 Fast Terminal Sliding-Mode Controller -- 3.5 Nonsingular Fast Terminal Sliding-Mode Control -- 3.6 Integral Terminal Sliding-Mode Control -- 3.7 Extended INTSMC for n-Order Nonlinear Systems -- 3.8 MATLAB Simulation -- 3.8.1 Simulation using MATLAB mfiles -- 3.8.2 Designing Improved Sliding Mode Controllers for Inverted Pendulum in SIMULINK -- 3.9 Conclusion -- References -- 4 Dynamic Sliding Mode Control -- 4.1 Introduction -- 4.2 Designing the Dynamic Sliding Mode Controller -- 4.2.1 Statement of the Problem -- 4.2.2 Controller Design and Stability Analysis -- 4.3 DSMC MATLAB Programming -- 4.3.1 Programming in Simulink Environment -- References -- 5 Fuzzy Sliding Mode Controllers -- 5.1 Introduction -- 5.2 Designing Adaptive FSMC -- 5.2.1 Designing Sliding-Mode Controller Based on Fuzzy Approximator -- 5.2.2 Fuzzy Approximation -- 5.3 Designing an Indirect Adaptive Fuzzy Sliding-Mode Controller -- 5.3.1 Fuzzy Adaptive SMC Simulation Results -- 5.4 Designing Sliding-Mode Controller Based on Fuzzy Equivalent Control -- 5.4.1 Fuzzy Equivalent SMC Simulation Results for Inverted Pendulum -- 5.4.2 Fuzzy Equivalent SMC Simulation Results for Duffing System -- References -- 6 Adaptive Sliding-Mode Control -- 6.1 Introduction -- 6.2 Adaptive Sliding Mode Control Design -- 6.3 Designing Adaptive SMC for Inverted Pendulum -- References -- 7 Super Twisting SMC -- 7.1 Introduction -- 7.2 SMC Review -- 7.2.1 SMC Design -- 7.2.2 Inverted Pendulum Design -- 7.3 Super Twisting SMC -- 7.4 Super-Twisting SMC Controller Design in MATLAB -- 7.4.1 MATLAB Programming -- References -- 8 Back-Stepping Sliding-Mode Control -- 8.1 Introduction -- 8.2 Back-Stepping Controller Design -- 8.2.1 Back-Stepping Method -- 8.2.2 Chaotic Duffing Oscillator Equations -- 8.3 Back-Stepping Control of Chaotic Duffing Oscillator -- 8.3.1 Stability Analysis -- 8.4 MATLAB Programming of Back-Stepping Controller -- 8.4.1 Back-Stepping Controller Design in MATLAB -- 8.4.2 Controller Design Based on Back-Stepping Super-Twisting SMC -- 8.5 Back-Stepping Super-Twisting Sliding-Mode Controller Design -- 8.5.1 Proof of Stability -- 8.5.2 MATLAB Programming -- 8.5.3 Back-Stepping Super-Twisting SMC Controller Design in MATLAB -- References -- 9 Chattering Reduction Methods -- 9.1 Introduction -- 9.2 Methodology -- 9.2.1 Methods to Reduce Chattering Phenomenon -- 9.2.2 Sign Function -- 9.2.3 Epsilon-Sign Function -- 9.2.4 Saturation Function -- 9.2.5 Hyperbolic Tangent Function -- 9.2.6 Generalized Hyperbolic Tangent Function -- 9.2.7 Generalized Hyperbolic Tangent Function -- 9.2.8 Super Twisting -- References -- 10 Feedback Linearization and Sliding Mode Controllers -- 10.1 Introduction -- 10.2 Feedback Linearization -- 10.2.1 Feedback Linearization of Systems with Canonical Form -- 10.2.2 Input-State Linearization -- 10.2.3 Input-Output Linearization -- 10.3 Inverted Pendulum System Equations -- 10.4 Controller Design Based on Feedback Linearization -- 10.5 Proof of Stability -- 10.5.1 MATLAB Programming -- 10.6 Sliding-Mode Control Based on Feedback Linearization Method -- 10.6.1 MATLAB Programming -- References -- 11 Fixed-Time Terminal Sliding-Mode Controller -- 11.1 Introduction -- 11.2 Finite-Time Terminal Sliding Mode Controller -- 11.2.1 Finite-Time Convergence -- 11.2.2 Mathematical Preliminaries -- 11.2.3 Finite-Time Terminal Sliding-Mode Controller Design -- 11.2.4 MATLAB Programming -- 11.3 Fixed-Time Terminal Sliding-Mode Controller -- 11.3.1 Fixed-Time Convergence -- 11.3.2 Mathematical Preliminaries -- 11.3.3 Design and Stability Analysis -- 11.3.4 MATLAB Programming -- 11.3.5 Nonsingular Fixed-Time Terminal Sliding-Mode Controller -- 11.3.5.1 Design of Nonsingular Fixed-Time Terminal Sliding-Mode Controller -- 11.3.5.2 MATLAB Programming -- References -- 12 Event-Triggering Sliding-Mode Controllers -- 12.1 Introduction -- 12.2 Designing Event-Triggering Sliding-Mode Controller for Linear Systems -- 12.2.1 Definitions and Mathematical Preliminaries -- 12.2.2 Controller Design -- 12.3 MATLAB Programming and Simulation Results: Event-Triggering Sliding-Mode Controller for Linear Systems -- 12.4 Design of Event-Triggering SMC for Nonlinear Systems -- 12.5 MATLAB Programming and Simulation Results.