This paper establishes a link between closed-loop controls for heterogeneous systems and sliding mode controls. We demonstrate that sliding mode analysis matches with experimental results from dielectric charge controllers. This approach provides a new way to analyze the behaviour of different heterogeneous systems.
Dominguez, M., Gorreta, S., Atienza, M.T., Blokhina, E., Pons, J. Sliding mode control of heterogeneous systems. A: "Extended abstracts Spring 2016: nonsmooth dynamics". 2017, p. 49-53.