Comments on “Adaptive multiple-surface sliding control for non-autonomous systems with mismatched uncertainties”

This note points out that the time complexity of the main multiple-surface sliding control (MSSC) algorithm in Huang and Chen [Huang, A. C. & Chen, Y. C. (2004). Adaptive multiple-surface sliding control for non-autonomous systems with mismatched uncertainties. Automatica, 40  (11), 1939–1945] is O(2n)O(2n). Here, we propose a simplified recursive design MSSC algorithm with time complexity O(n)O(n), and, using mathematical induction, we show that this algorithm agrees with this MSSC law.