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Variable structure control with sliding mode, which is commonly known as sliding mode control (SMC), is a nonlinear control strategy that is well known for its robust characteristics.The main feature of SMC is that it can switch the control law very fast to drive the states of the system from any initial states onto a user-specified sliding surface, and to maintain the states on the surface for all subsequent time.This controller achieves an insensitive to parametric uncertainties and external disturbances performance.But there is an inevitable problem in SMC is that the control law usually can lead to a "chattering" in response for its discontinuity.Chatter is problematic for it can wear down the actuator and it can excite unmodeled dynamics in the system, possibly compromising performance and even stability.