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In this work two main robust control strategies, the sliding mode control (SMC) and nonlinear H 1 control, are integrated to function in a complementary manner for tracking control tasks. The SMC handles matched L 1 ½0, 1Þ type system uncertainties with known bounding functions. H 1 control deals with unmatched disturbances of L 2 ½0, 1Þ type where the upper-bound knowledge is not available. The new control method is designed for a class of nonlinear uncertain systems with two cascadedoi:10.1080/00207720500403054 fatcat:ngarcatu5faotmaikfziun5hwq