On 2 types of robust reaching laws.

The reaching law is an important part of a sliding-mode controller, which guarantees the existence of slidingmotion in finite time. Fast access to sliding motion with a weak chattering phenomenon in control input is always desired. In this paper, 2 different types of reaching laws are proposed, which guarantee finite-time convergence to the sliding manifold. Moreover, the reaching time is robust to initial conditions and can be designed by the user. Some useful discussions on the design of parameters are also presented to weaken the chattering phenomenon. A careful simulation study is finally provided to verify the effectiveness and efficiency of the proposed methods. [ABSTRACT FROM AUTHOR]