This article describes the synthesis of a sliding mode controller SMCr based on a second order linear model using an integral-differential surface of error. Different from similar strategies, the tuning parameters keep a close relationship with the system dynamics in terms of conventional specifications of transient response. The proposed controller only needs the output feedback of system and could be satisfactorily used in control of single input-single output nonlinear electric systems such as electronic power converters with pulse width modulation.