I repeated the implementation in function [u, s, ueq, usw] = smc(e,edot,xddot_d,f,b,lambda,kappa,eta, switch_fun) according to formulas (3.61) and (3.62). In my understanding, ueq is the first two items of the above fractions (3.61 and 3.62), and usw is the last two items of the fractions. But in the process of manual calculation, it was found that lambda.*edot in ueq did not appear in the fractions (3.61 and 3.62). Please help me.
I repeated the implementation in function [u, s, ueq, usw] = smc(e,edot,xddot_d,f,b,lambda,kappa,eta, switch_fun) according to formulas (3.61) and (3.62). In my understanding, ueq is the first two items of the above fractions (3.61 and 3.62), and usw is the last two items of the fractions. But in the process of manual calculation, it was found that lambda.*edot in ueq did not appear in the fractions (3.61 and 3.62). Please help me.