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Shun Horikoshi and  Tohru Kawabe,  Slip Suppression Sliding Mode Control with Various Chattering Functions.   journal   = {International Journal of Computer, Electrical, Automation, Control and Information Engineering}, [online]. World Academy of Science, Engineering and Technology. September 2017, vol. 129(9). 967 - 973[viewed 25 September 2017]. Available from: http://waset.org/publications/10007858.