... nonlinearities h(x) ∈ Rmis continuous in x. gi(x, t) ∈ Rn, an unmatched-typenonlinearity, possibly time-varying, is piecewise continuous in t and continuous in x.Weassume the following:1. ... for chattering reduction and improved tracking in sliding mode control (SMC), ASME J. of Dynamic Systems, Measurement, and Control, Vol. 125, pp 66 5- 66 9. Thompson, D. F. (1998). Gain-Bandwidth ... sliding surface from the firsttime instant (Fridman et al., 2005; Poznyak et al., 2004). The function of integral sliding-modecontrol is now to maintain the system’s motion on the integral sliding...