This study presents a class of lst-order Sliding Mode Control (SMC) laws that maintain the advantages of rapid response and robustness from conventional SMC schemes. These SMC laws are continuous everywhere so that the chatter, a characteristic of the sign-type SMC laws, is greatly alleviated. It is also theoretically shown that the SMC laws are able to mend the saturation-type SMC's weakness of only achieving uniformly ultimate boundedness performance to an asymptotic stability level.
