Based on designing the observer, a switching strategy and sub-controller, which use the observer value, are designed to guarantee that the closed-loop system is exponentially asymptotically stable.
在所设计的观测器基础上，以系统状态的观测值为依据设计各子控制器和切换方案，使整个闭环系统是指数渐近稳定的。
These control laws not only guarantee the system's trajectories to reach the sliding mode in finite time, but also ensure the sliding mode to be exponentially asymptotically stable.
这些控制方法不仅能保证系统状态轨迹在有限时间内到达滑动模，而且保证系统的滑动模态指数渐近稳定。
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