  In this work, a new SMS is proposed to achieve high tracking and suitable
robustness. However, the chattering phenomenon should be regarded as the main
drawback of the SMC. Therefore, a new compound control algorithm is used for
reducing the chattering phenomenon. The applied compound control law constantly
evaluates the error and send the correct value to the system. This
significantly will reduce the chattering phenomenon. The performance of the
control methods validated by applying on a robot arm experimentally.

Systems and Control;Systems and Control