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Le syst\u00e8me r\u00e9el \u00e0 commander peut \u00eatre de nature vari\u00e9e, avoir des parties mal ou non mod\u00e9lis\u00e9es, \u00eatre soumis \u00e0 des perturbations. Les algorithmes num\u00e9riques robustes RG calculent une commande ayant une composante discontinue et donnent une \u00e9volution du point de fonctionnement du syst\u00e8me boucl\u00e9 sur la surface de glissement (l'\u00e9quation de la surface d\u00e9finit la dynamique du syst\u00e8me boucl\u00e9). Pour les applications nous avons choisi le contexte de la formation initiale et de la formation continue (th\u00e9orie \u00e9l\u00e9mentaire, sch\u00e9ma-bloc, tableau de synth\u00e8se, diagrammes temporels, \u00e9quations diff\u00e9rentielles, formalisme de Laplace, simulation num\u00e9rique, commande par calculateur). Le tableau de synth\u00e8se conduit \u00e0 l'\u00e9quation de la commande et au calcul des param\u00e8tres de r\u00e9glage. Des r\u00e9sultats de simulation et d'exp\u00e9rimentation sont donn\u00e9s pour diff\u00e9rents actionneurs et plusieurs technologies (\u00e9lectrique continue et alternative, pneumatique, hydraulique, muscles artificiels). Cette premi\u00e8re \u00e9dition comprend deux parties, des annexes et un index. La premi\u00e8re partie est une initiation aux modes glissants compl\u00e9t\u00e9e par divers aspects pratiques, dans le cas des syst\u00e8mes continus mono-entr\u00e9e mono-sortie. La deuxi\u00e8me partie, orient\u00e9e troisi\u00e8me cycle et recherche, propose divers modes glissants g\u00e9n\u00e9ralis\u00e9s et aspects th\u00e9oriques, dans le cas des syst\u00e8mes multi-entr\u00e9e multi-sortie continus, discrets et hybrides. 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