Nonsmooth sliding mode control based on a class of linear Lipschitz switching surfaces

A new design method is developed based on the new criteria on approaching phase of sliding mode control. The linear Lipschitz surface can be designed to be switching condition of sliding mode control such that the sliding motion along the surface is not smooth any longer as usual sliding mode controller. Thus, the flexible performance of the sliding motion can be achieved according to the region of the switching surface. Finally, we provide a numerical example to verify the new design method.