Hi there,
I don't think this question actually fits into the category of "Next Generation ROS", which is mainly focusing on ROS2. I've seen that you opened an issue with the same question on github, as well as posted the question on the ros control SIG. I believe these places are more eligible to get your answer.
SIG post:
https://groups.google.com/forum/embed/?place=forum/ros-sig-robot-control&showsearch=true&showpopout=true&parenturl=http%3A%2F%2Fwiki.ros.org%2Fsig%2FRobotControl#!topic/ros-sig-robot-control/1kLGCxnZ-4o
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https://discourse.ros.org/t/sliding-mode-control-using-ros-control/2385/2) or reply to this email to respond.
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