V. Acary, B. Brogliato, and Y. Orlov, Chattering-Free Digital Sliding-Mode Control With State Observer and Disturbance Rejection, IEEE Transactions on Automatic Control, vol.57, issue.5, pp.1087-1101, 2012.
DOI : 10.1109/TAC.2011.2174676

URL : https://hal.archives-ouvertes.fr/inria-00580713