This paper introduces an interactive methodology to analize, design, and simulate sliding model controllers for R 2 linear systems. This paper reviews sliding mode basic concepts and design methodologies and describes an interactive tool which has been developed to support teaching in this field. The tool helps students by generating a nice graphical and interactive display of most relevant concepts. This fact can be used so that students build their own intuition about the role of different

more »

... ameters in a sliding mode controller. Described application has been coded with Sysquake using an event-driven solver technique. The Sysquake allows using precise integration methods in real time and handling interactivity in a simple manner. INDEX TERMS Sliding mode control, interactive simulations, control education.