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Assume that for every \\(y\\in R^ k\\), \\(z\\in R^ n\\), there exists a unique solution \\(u^*\\in U\\) of (3) \\(s_ x(z)\\cdot (f(t,z,\\cdot)+P(y-h(z)))=0\\), \\(t\\geq 0\\). Further, let rank \\(s_ x(x)=m\\) whenever \\(s(x)=0\\), U be closed, and \\(\\{\\) (f(t,x,u),f(t,z,u)); \\(u\\in U\\}\\) convex for \\(t\\geq 0\\), \\(x,z\\in R^ n\\), \\(s(z)=0\\). Then any solution of (1), (2) solves (4) \\(\\dot x=f(t,x,u^*(t,h(x),z))\\), \\(\\dot z=f(t,z,u^*(t,h(x),z))+P(h(x)-h(z))\\). If f, \\(f_ x\\), \\(h_ x\\) are bounded and there is a symmetric positive definite matrix Q such that the symmetric part of \\(Q(f_ x-Ph_ x)\\) is negative definite, then the unavailable state vector x can be asymptotically kept on the sliding manifold with an error decaying exponentially. 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