选择适当的动态不连续控制律保证了系统状态在有限时间到达滑模面，并有效的削弱了抖振。
An appropriate control law was selected that forces the system states to reach the sliding manifold in finite time and has low chattering in the sliding motion.
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。
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.
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