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Sliding mode control design based on Ackermann's formula
http://dx.doi.org/10.1109/CDC.1994.411715
A nonlinear programming approach for the sliding mode control design
http://dx.doi.org/10.1016/j.apm.2005.02.010
Adaptive stabilizing and tracking control for a nonlinear inverted-pendulum system via sliding-mode technique
http://dx.doi.org/10.1109/TIE.2006.870680