{"id":"https://openalex.org/W2110228685","doi":"https://doi.org/10.1109/cdc.2002.1184727","title":"On introducing integral action in sliding mode control","display_name":"On introducing integral action in sliding mode control","publication_year":2003,"publication_date":"2003-08-27","ids":{"openalex":"https://openalex.org/W2110228685","doi":"https://doi.org/10.1109/cdc.2002.1184727","mag":"2110228685"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1184727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050408211","display_name":"Sridhar Seshagiri","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. Seshagiri","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, USA","Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, USA","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA#TAB#","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052018166","display_name":"Hassan K. Khalil","orcid":"https://orcid.org/0000-0002-9968-2181"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H.K. Khalil","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, USA","Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, USA","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA#TAB#","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050408211"],"corresponding_institution_ids":["https://openalex.org/I87216513"],"apc_list":null,"apc_paid":null,"fwci":4.8567,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.94432943,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"1473","last_page":"1478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8293956518173218},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6530534625053406},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6183983683586121},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6067214608192444},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.5967294573783875},{"id":"https://openalex.org/keywords/ideal","display_name":"Ideal (ethics)","score":0.5854217410087585},{"id":"https://openalex.org/keywords/steady-state","display_name":"Steady state (chemistry)","score":0.571434497833252},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5392379760742188},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5350345969200134},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5054209232330322},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.49187493324279785},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4708043336868286},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.4548940062522888},{"id":"https://openalex.org/keywords/transient-response","display_name":"Transient response","score":0.4423139691352844},{"id":"https://openalex.org/keywords/integral-equation","display_name":"Integral equation","score":0.4290599822998047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4018698036670685},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3150206506252289},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19827225804328918},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16225838661193848},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12441036105155945},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.07723501324653625}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8293956518173218},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6530534625053406},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6183983683586121},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6067214608192444},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.5967294573783875},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.5854217410087585},{"id":"https://openalex.org/C8171440","wikidata":"https://www.wikidata.org/wiki/Q903414","display_name":"Steady state (chemistry)","level":2,"score":0.571434497833252},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5392379760742188},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5350345969200134},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5054209232330322},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.49187493324279785},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4708043336868286},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.4548940062522888},{"id":"https://openalex.org/C85761212","wikidata":"https://www.wikidata.org/wiki/Q1974593","display_name":"Transient response","level":2,"score":0.4423139691352844},{"id":"https://openalex.org/C27016315","wikidata":"https://www.wikidata.org/wiki/Q580101","display_name":"Integral equation","level":2,"score":0.4290599822998047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4018698036670685},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3150206506252289},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19827225804328918},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16225838661193848},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12441036105155945},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.07723501324653625},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2002.1184727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1561445488","https://openalex.org/W1606815384","https://openalex.org/W2030134241","https://openalex.org/W2039887568","https://openalex.org/W2096369755","https://openalex.org/W2098318804","https://openalex.org/W2110497559","https://openalex.org/W2134668622","https://openalex.org/W2144487083","https://openalex.org/W2160882803","https://openalex.org/W2165677521","https://openalex.org/W4231077067"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W4292702743","https://openalex.org/W2726654316","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W2021587409","https://openalex.org/W4384821980","https://openalex.org/W2165744821","https://openalex.org/W1496250982","https://openalex.org/W2392286806"],"abstract_inverted_index":{"An":[0],"ideal":[1,91,161],"sliding":[2],"mode":[3],"control":[4],"(SMC)":[5],"can":[6,28,109],"guarantee":[7,31],"asymptotic":[8],"tracking":[9],"with":[10,40],"zero":[11,32,111,165],"steady-state":[12,33,57,112,166],"error":[13,113],"for":[14],"a":[15,70,152],"wide":[16],"class":[17],"of":[18,50,65,82,124,133,137,160],"nonlinear":[19],"systems.":[20],"When":[21],"implemented":[22],"using":[23],"continuous":[24],"approximations,":[25],"the":[26,48,51,56,63,66,87,90,96,119,134,138,157],"controller":[27],"no":[29],"longer":[30],"error.":[34,167],"Instead,":[35],"it":[36],"guarantees":[37],"ultimate":[38,42],"boundedness":[39],"an":[41],"bound":[43],"that":[44],"is":[45],"proportional":[46],"to":[47,61,131,146,155],"width":[49,64],"boundary":[52,67,73],"layer.":[53],"To":[54],"reduce":[55,62],"error,":[58],"we":[59,108,143],"have":[60],"layer,":[68],"but":[69],"too":[71],"small":[72],"layer":[74],"gets":[75],"us":[76],"back":[77],"into":[78],"chattering":[79],"and":[80],"excitation":[81],"high-frequency":[83],"modes,":[84],"which":[85],"are":[86],"reasons":[88],"why":[89],"SMC":[92,162],"was":[93],"approximated":[94],"in":[95,118,150],"first":[97],"place.":[98],"For":[99],"constant,":[100,102],"approximately":[101],"or":[103],"eventually":[104],"constant":[105],"exogenous":[106],"signals,":[107],"achieve":[110],"by":[114],"introducing":[115,125],"integral":[116,126,148],"action":[117,127,149],"controller.":[120],"The":[121],"traditional":[122],"way":[123,153],"usually":[128],"leads":[129],"one":[130],"deterioration":[132],"transient":[135,158],"response":[136],"system.":[139],"In":[140],"this":[141],"paper":[142],"show":[144],"how":[145],"introduce":[147],"such":[151],"as":[154,172,174],"recover":[156],"performance":[159],"while":[163],"achieving":[164],"We":[168],"give":[169],"both":[170],"regional":[171],"well":[173],"global":[175],"results.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}