Zhen, R., Chen, J., Wu, X., Zhu, Q., Nouri, H., Wu, X., & Zhang, J. (2014). Sliding mode control with self-turning law for uncertain nonlinear systems with time-delay and external disturbances. Lecture Notes in Control and Information Sciences, 452, 159-169. https://doi.org/10.1007/978-3-642-36385-6_8