Shibin Su Heng Wang Hua Zhang Yanyang Liang Wei Xiong Reducing chattering using Adaptive Exponential Reaching Law. 3213-3216 2010 ICNC http://dx.doi.org/10.1109/ICNC.2010.5582697 conf/icnc/2010 db/conf/icnc/icnc2010.html#SuWZLX10