Abstract Sliding mode controller with time-varying sliding surfaces is a method to improve
robustness and transient response of a system. In this study, a special time-varying
mechanism is considered in which the sliding surface depends on angular information and
sliding surface parameters are obtained with respect to the given initial conditions. Support
vector machine regression algorithms are used in order to obtain the parameters of the time-
varying sliding surface for any initial condition chosen from the predefined phase space …