Lyapunov analysis of sliding motions: Application to bounded control

The results concern the fundamental problem of Lyapunov analysis of sliding motions. It consist first to estimate the useful part of the sliding surface (the so‐called “sliding domain”) and second to estimate the useful part of the state domain that is the domain of all initial conditions for which the corresponding solutions converge to the sliding domain. The application of such results concern the design of a realistic bounded control. Several examples are exposed in order to illustrate the obtained results.