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.diegojavierfares.com/special-pick-Foxfarm-Ocean-Forest-Garden-Potting-Soil-Bags-6-3-6-8-pH-1-5-Cu-Ft-4-Pack-p38700-great-pick/