Abstract
In this note, it is shown that the Lyapunov function-based analyses done in the above-titled article to design a backstepping sliding mode controller contain some drawbacks. These drawbacks include ignoring some terms in simplification of time-derivative of the considered Lyapunov functions, which do not vanish in a finite-time. Moreover, by presenting a counterexample, it is revealed that the finite-time convergence of the error signals cannot be necessarily concluded from a Lyapunov function-based inequality used in the aforementioned article.
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