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。(A robust controller design combining the dynamic inversion method and global sliding-mode variable structure control for a class of uncertain affine nonlinear systems is considered.)