This paper investigates a framework for the application of robust and smooth second order sliding mode control to a class of underactuated mechanical systems for the realization of high performance control applications. First. using input and state transformations. the dynamics of the class are transformed into a normal form which consists of a set of reduced order nonlinear subsystem... https://www.adventuresonabike.com/product-category/flacone-fondotinta-fluido/