This approach overcomes the disadvantages of chattering of the sliding mode control approach . the control law is continue and the system possess hx tracking performance 该方法针对滑模控制方法由于控制律不连续容易引起系统的抖颤的不足，设汁了一种新的控制器，即h _控制器。
2.
Later editions continued as follows when the sands are all dry , he is gay as a lark , and will talk in contemptuous tones of the shark , but , when the tide rises and sharks are around , his voice has a timid and tremulous sound 它洋洋得意地同鲨鱼攀谈，但是当潮水上涨，鲨鱼把它包围，它的声音就变得胆怯而又抖颤！ ”
