A sufficient condition for checking the attractiveness of a sliding manifold in fractional order sliding mode control

Stability issues of fractional order sliding mode control laws are analyzed in this paper. For differentiation orders less than unity, it is shown that a stable reaching law in the fractional order case corresponds to a stable reaching law in the integer order case. The contribution of the current study is to explain the stability of the closed loop by the use of the Caputo and Riemann-Liouville definitions of fractional order differentiation.