... 412 3 4123413 8 1 8 1 1 3 120 25 4 25 4 5 10 5 13 33 3 6 3 6(1,) (,) 5 20 4 20 10 25 20 25 93 13 39 19(, 1)20 20 5 20 5 50 4 50 11 31 37 274 5 10 5 4 50 5 50h hr rv vr rccc ccc c cxi ... 12340. 65 0. 25 0.32 0. 25 0.30 0.200.20 0. 75 0. 15 , 0.30 0. 15 0.240.26 0.34 0.80 0. 15 0.36 0.480. 45 0.20 0. 15 0.60 0. 25 0.180. 25 0.30 0.20 , 0. 75 0.40 0.140.20 0. 65 0. 25 0.20 0. 15 0.37AAAA−−⎡⎤⎡ ... α = 0 .5. For this system, the switching surface is chosen as Two Dimensional Sliding Mode Control 50 7 0 5 10 15 20 25 300102030-2024i axisj axisuh (i,j) 0 5 10 15 20 25 300102030-10 -5 0 5 10i...