Probably you are looking to a continuous controller, robust with respect to lipshitz perturbations. If so please check my last result accepted for publication in IEEE-tac. 

https://www.researchgate.net/publication/280590093_Higher_order_supertwisting_algorithm_for_perturbed_chains_of_integrators_of_arbitrary_order

I was trying to get this result sinse 2014

https://www.researchgate.net/publication/280590093_Higher_order_supertwisting_algorithm_for_perturbed_chains_of_integrators_of_arbitrary_order

Regards

Article Higher order supertwisting algorithm for perturbed chains of...

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