Transactions on Machine Design Lotfi Chaouech, Abdelkader Chaari 1 2 2013 http://www.dline.info/tmd/fulltext/v1n2/1.pdf This paper proposes a new type of a sliding mode control algorithm based on Takagi-Sugeno fuzzy model for a class of nonlinear systems. Firstly, we choose the sliding surface which gives a good behaviour during sliding mode. It is formulated as an assignment of the poles of nonlinear system in a convex optimization area. Secondly, we design a nonlinear control law leading the state trajectory on the sliding surface in a finite time. Finally, a flexible joint manipulator is given to validate the theoretical results of our approach.