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The model under discussion is governed by the expression  \\[ d^n y/dt^n= f(y, dy/dt,\\dots, d^{n-1} y/dt^{n-1}, t)+ u \\]  where ``\\(f\\)'' is composed of its nominal (known) part \\(f\\) and an uncertain (unknown) part \\(\\Delta f\\) which is bounded by some known function \\(F\\), that is \\(|\\Delta f({\\mathbf x},t)|\\leq F({\\mathbf x},t)\\) where  \\[ {\\mathbf x}= [y,dy/dt\\cdots d^{n-1}y/dt^{n-1}]^T. \\]  The control objective is to determine a continuous sliding control \\(u\\) such that the output ``\\(y(t)\\)'' tracks a target \\(y_d(t)\\). The proposed generalized error transformation reads in the form  \\[ s_c= \\Biggl({d\\over dt}+\\lambda\\Biggr)^{n-1} \\Biggl({d\\over dt}-\\lambda\\Biggr) w(t) \\]  with \\(\\lambda> 0\\), \\(e(t)= y(t)- y_d(t)\\) and \\(w(t)= \\int^t_0 e(\\tau)d\\tau\\). The proposed fuzzy controller is composed of rules of the form ``if \\(s\\) is \\(A\\) and \\(s_c\\) is \\(B\\) then \\(u= C\\) with \\(A\\), \\(B\\), and \\(C\\) being fuzzy sets of \\(s\\), \\(s_c\\), and \\(u\\), respectively. The application of this controller to robotics is presented as 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