Description: This software was prepared by dr Zbigniew Mrozek(Cracow University of Technology, Poland) in cooperation with Prof. Stanisław Tarasiewicz (Laval University, Canada). The purpose of this software is demonstration of non-linear sliding mode controller designed to control movement of platform mobile carrying robot with welding equipment. The main feature of sliding mode controller is fast response and short settling time. The controller do not use the stable feedback but looks for fast unstable trajectories yielding near target point and switches between them as better one trajectory is found. The methodology is described in a book: Sliding Modes in Control and Optimization by Prof. Vadim I. Utkin, Springer Verlag 1992, ISBN: 978-3-642-84381-5 (Print) 978-3-642-84379-2 (Online), published in Communications and Control Engineering Series, 1992,
This example is described in book "MATLAB i Simulink. Poradnik użytkownika. Wydanie IV, Helion 2017, Poland ISBN 978-83-246-5621-9, 9788324656219, https://helion.pl/ksiazki/matsi4 or in English https://uk.bat365/academia/books/matlab-i-simulink-mrozek.html?s_tid=srchtitle
see new version: "Stateflow sliding mode controller (Advanced)"