Abstract
This paper deals with the problem of robust attraction for MIMO affine nonlinear control systems in which uncertainties are only bounded. The controller in the form of state feedback is suggested in the paper. Under acting of the controller, the nonlinear closedloop system will be finitely attracted by a given neighbourhood of equilibrium state. The controller consists of two parts: the first one is a static nominal controller obtained by the variable structure control; the second one is a dynamic compensator obtained by learning approach of artifical neural network (ANN). The role of nominal controller is to make the nonlinear nominal system arrive at a neighbourhood of sliding surface quickly and the role of dynamical compensator is to attenuate the influence of uncertainties on the system stability.
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