Sliding glass doors line the inn's rustic hallways, bringing in the sound of trickling water and the serenity of the stone and tree-filled courtyards outside.

Wide, sliding glass panels framed with mahogany line both sides of the main living area, enabling it to be light-filled and open to the outdoors.

First, a study of a sliding mode controller under on off training is made and then the on line learning algorithm using a gradient decent method is designed.