Slip Stitch Edges - Knitting
This video has some good examples.
I've just been slipping in pattern (as if to knit on knit rows and as if to purl on purl rows) but my edges have all been for seaming or I'd pick up and knit on them. So far that's worked for me, but I'll have to explore the other possibilities.
I'm glad you asked about this, I needed to do some looking at it for myself. Thanks.