基于非线性系统线性化后得到外部动态与内模动态，设计一种线性化观测器，使得当摄动参数在有限范围内任意取值时，观测器误差渐近为零。并且利用在有限时间到达平衡点的连续滑动模态，设计一种连续形式的高增益滑模控制器，使得实际输出与参考输出的差渐近收敛到零。稳定性分析和仿真试验表明，该控制系统具有较强的鲁棒性和快速收敛性。

An observer based on external and internal dynamics is designed, making the error between observing value and factual value to zero. Moreover, a continuously high-gain sliding mode controller is presented by using a sliding mode state which can make the error between the output and reference signal converge to zero. The analysis of stability and the result of simulation indicate that the controller designed has strong robustness and rapid convergence.