In the process of control design, the sliding surface of sliding mode control is determined by minimizing the optimal cost function, and the controller is the saturation controller.

在设计控制系统时，滑模控制滑模面通过最小化最优价值函数得到，控制器采用饱和控制器。

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By using the invariance property of VSC, the controlled system independent of the uncertainty which satisfies the matching condition on the sliding surface.

利用变结构控制的不变性，使受控系统在滑模面上与满足匹配条件的系统不确定性无关。

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The sufficient condition for the existence of stable sliding surface was derived in terms of LMIs.

给出了线性矩阵不等式形式的稳定滑动模面存在的充分条件。

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He knelt down and crawled from the switch rails to the frog of the crossover, sliding his hand along the running surface and the head of the rail and feeling for possible corrugations or dents, or burrs shaved off by the wheels of the locomotives.

NEWYORKER: Among Animals and Plants

Menchov was still sliding along the wet surface as his mechanic jumped out of the team car and took another bike from the roof.

BBC: Menchov wins Giro despite crash