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针对存在非匹配不确定性的非线性系统，讨论其输出跟踪问题．根据提出的等价作用的概念，设计了一种简单的滑模观测器，在对系统不确定性进行估计的基础上，给出了此类系统的变结构控制方案，闭环系统在有限时间进入滑动模态．仿真算例证实了理论结果
For non-linear systems with mismatched uncertainties, the output tracking problem is discussed. Based on the concept of equivalence function, a simple sliding mode observer is designed. Based on the estimation of system uncertainties, a variable structure control scheme for such systems is given. The closed-loop system enters a finite time Sliding mode. Simulation results confirm the theoretical results