I'm not getting your notation (and I have a few clues about your application) but at a glance this recalls me the classical zeroing of Lyapunov function, as in this example: https://en.wikipedia.org/wiki/Sliding_mode_control#math_5
My question is how to drive the final equivalent torque equation for implement on matalb. Torque is equal to nominal tourue + disconinous torque but I don't know how to drive the nominal equivalent torqure
Although your question and equation are unclear, I think you are referring to the 'equivalent part' of the SMC. I thought you have successfully achieved the desired outcome with the fuzzy logic-based integral SMC, right? How did end up asking a question that you supposedly had known the answer?