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Such convergence to the origin is compared with other existing results such as the super-twisting (ST) and an SM controller with exponential terms. To compensate for unknown but bounded disturbances, a discontinuous function through an integral action has been employed. The presented algorithm with the exponential term, or exponential SM control algorithm, has been employed to a nonlinear system that can be represented into a block controllable form to follow an admissible trajectory. Finally, a real-time experiment and a numerical simulation have been carried out on a direct current motor to show effectiveness of the proposed control law. Numerical simulations have been compared with the ST control law and with a predefined-time controller with expon0ential terms.<\/jats:p>","DOI":"10.1177\/01423312231188774","type":"journal-article","created":{"date-parts":[[2023,8,4]],"date-time":"2023-08-04T07:02:49Z","timestamp":1691132569000},"page":"1058-1068","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Exponential sliding mode controller for tracking trajectory of nonlinear systems"],"prefix":"10.1177","volume":"46","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7445-314X","authenticated-orcid":false,"given":"M","family":"Hernandez-Gonzalez","sequence":"first","affiliation":[{"name":"Facultad de Ciencias F\u00edsico Matem\u00e1ticas, Universidad Autonoma de Nuevo Leon, M\u00e9xico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"AY","family":"Alanis","sequence":"additional","affiliation":[{"name":"Centro Universitario de 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