This paper presents an adaptive tracking controller with a proportional and integral switching surface. A new adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of linear dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then an adaptive sliding mode controller is derived and its stability is proved. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The adaptive design is extended to the multiple inputs system. The numerical simulation is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

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