其中表示無奇點問題的等效控制項，表示用於補償擾動影響的滑動控制。因此，

其中表示無奇點問題的等效控制項，表示用於補償擾動影響的滑動控制。因此，系統將驅動到滑動模式並在有限時間內收斂，並且假定擾動被假定為，此處為正常數。

結果 (英文) 1:

Wherein no represents the equivalent singularity problem controls, indicates for compensating disturbing influences of slip control. Thus, the driving system and to the sliding mode converges within a finite time, and assuming that the disturbance is assumed, here is a positive constant.

結果 (英文) 2:

It represents an equivalent control without a odd-point problem, and it represents a sliding control that compensates for the effects of disturbance. Therefore, the system will drive to sliding mode and converge for a limited time, assuming that the disturbance is assumed to be a normal number here.

結果 (英文) 3:

Where is the equivalent control term without singularity problem, and is the sliding control used to compensate the disturbance effect. Therefore, the system will drive to the sliding mode and converge in a finite time, and assume that the disturbance is assumed to be a normal number.