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1. Robust global both stability and attraction with finite reachability time of an appropriately chosen sliding set. 2. The robot motions reach, on the sliding set, a desired motion in a prespecified finite time. 3. Robust both stability and global attraction with finite reachability time of the given robot desired motion. 4. A prespecified convergence quality of real motions to the desired motion, independently of the internal dynamics of the system and without oscillations, hence without chattering in the sliding mode.

Robot control for robust stability with finite reachability time in the whole