根据滑模控制概念， 提出一种新的可拓控制器。在控制策略设计上分为两个部分，第一个部分是根据系统已知部分设计滑模控制的等效控制， 另一部分为鲁棒控制以解决系统的不确定性因素及外部干扰问题。首先，构造一基本可拓控制器，用所定可拓集的关联函数作为系统状态信息的评价指针， 并在其中植入一组待调增益参数，经参数修正来综合滑模可拓控制的鲁棒控制（滑模的撞击控制），以保证系统的稳定性。最后以一个非线性控制系统的仿真为例来说明所设计的可拓控制器的控制性能。

In this paper, a novel extension controller based on the scheme of sliding mode control is investigated. The control strategy of the proposed controller is divided into two parts. One part is the equivalent control of sliding mode control. It can be directly obtained from the known nominal system. The other part is the well-known robust control. This control term is used to compensate the system uncertainty and external disturbance. By integrating the essential concept of extension set theory with the sliding mode control , the robust extension controller can be easily realized. In this study, a basic extension controller is organized first without any specific expert knowledge about the controlled system. The extension dependent functions are employed to provide system states´ information under control. A set of parameter is incorporated in the extension controller so that a robust control, also called as a hitting control, is established to guarantee the system robust stability. Actually, the proposed extension controller is stable in the sense of the Lyapunov. Finally, the proposed extension controller is applied to controlling a nonlinear system to verify its effectiveness and ability.