First copy the viewcontroller in the storyboard to your desired storyboard and set its file to SlidingViewController
and then initialize and present it like so:-
let slidingController = SlidingViewController.instance()
let menuController = ProfileRouter.setupModule(model: nil) // example child controller
slidingController.initWith(controller: menuController)
slidingController.modalPresentationStyle = UIModalPresentationStyle.overCurrentContext
self.navigationController?.present(slidingController, animated: false, completion: nil)