This work deals with dynamic behavior of variable structure systems operating in reaching mode. Concepts of trajectory planning of differentially flat systems are employed to reach the sliding surface in a point where the sliding mode can be established. An additional control surface is proposed to track the planned trajectory. Then, the system evolves robustly from the initial state to the steady state. Adjusting the control action, undesirable transient behaviors are avoided and the state-space region in which the system operates safely is increased.