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对于确定性的和受到结构扰动的非线性系统，用变结构控制设计的控制律能够满足到达条件，构造的切换面能产生稳定的滑动模态。当非线性系统在切换面上运动时，可以实现输出调节和鲁棒输出调节。
For deterministic and structural perturbed nonlinear systems, the control law of the variable structure control design can satisfy the arrival condition, and the constructed switching surface can produce a stable sliding mode. When nonlinear systems move on the switching plane, output regulation and robust output regulation can be achieved.