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  _____    __   __    ______    ______   ______   
 |__  //   \ \\/ //  /_   _//  /_   _// |      \\ 
   / //     \ ` //     | ||     -| ||-  |  --  // 
  / //__     | ||     _| ||     _| ||_  |  --  \\ 
 /_____||    |_||    /__//     /_____// |______// 
 `-----`     `-`'    `--`      `-----`  `------`

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Text this: A synthesized integral sliding mode controller for an underactuated unicycle