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T/F a calculus for computing filippov's differential inclusion with application to the variable structure control of robot manipulators

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It is proved that T/F a calculus is used  for computing filippov's differential inclusion with application to the variable structure control of robot manipulators.

In this we also get to know more about the calculus concepts and it also helps in paper to develops a calculus for computing Filippov's differential inclusion which simplifies the analysis of dynamical systems described by differential equations with discontinuous right-hand-side. In particular, when a slightly generalized Lyapunov theory is used, the rigorous stability analysis of variable structure systems is routine. As an example, a variable structure control law for rigid-link robot manipulators is described and its stability is proved.

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