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.markbroyard.com/best-save-happy-way-ashy-bines-whey-protein-powder-choc-caramel-500g-online-sale-big-deal/