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A hybrid variable structure control strategy for a class of second order systems is presented in this paper. It relies on a system state decomposition into regions, and on a suitable event-driven switching among the corresponding control laws. By enforcing conventional and unconventional sliding-mode behaviors, as well as avoiding the generation of limit cycles, the proposed strategy proves to globally asymptotically stabilize the origin of the system state space.
Ferrara et al. (2002) studied this question.