In the reaching mode, the system state is pushed towards the switching surface
We consider the same switching surface
s([lambda],t) as defined in (15)
Its main feature is to drive the system states to a switching surface
Movement in general SMC systems can be divided into a reaching phase and a sliding mode  because the basic idea of SMC is to drive system states onto a predefined switching surface
and move on it to the point of origin after the system state reaches the switching surface
SMC will drive these variations in nonlinear plant's state trajectory on a user chosen surface called switching surface
Another switching surface
for the same reason is Snaafy, trained by Musabah Al Muhairi and ridden by Hills who said: "He proved he is as good on turf last time but his form last year was on dirt so we need to get a race into him on Tapeta so we can decide his main target.
s is called the switching function because the control action switches its sign on the two sides of the switching surface
Songlark is dropping back in trip and switching surface
after finishing a half-length runner-up to Victory Moon in the 10-furlong Group Two UAE Derby on dirt at Nad Al Sheba in March.
Verification of Hypothesis (H2) with the Hamilton-Jacobi Inequality beyond the Switching Surface
The designed control law algorithms in this paper and in literature  are all able to ensure that the motion of the system can reach the switching surface
and thus can make the closed-loop system asymptotically stable, but the control law in paper  cannot provide the arrival speed, cannot guarantee rapidity, and had a big conservative, but the control law in this paper can improve the rapidity of the system's trajectories to reach the sliding mode and effectively weaken the chattering of the sliding mode.
Aveiro, switching surface
after a sequence of consistent efforts on the all-weather, and Great As Gold, vastly improved over hurdles this winter, are the subjects of optimistic reports from connections.
A winner once on dirt in his native Oman, BF Mughader won on his third and previous UAE outing, all on the Abu Dhabi turf, before switching surfaces