中文说明：
采用非线性动态逆与全程滑模变结构控制相结合的思路，建立了一类具有不确定性和外界干扰的仿射非线性系统的强鲁棒性控制策略。
English Description：
A strong robust control strategy for a class of affine nonlinear systems with uncertainties and external disturbances is proposed by combining nonlinear dynamic inversion with sliding mode variable structure control.