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Finally, a double-inverted pendulum model and a numerical example are provided to validate the feasibility of the attained method.This article focuses on a robust control scheme for pointing control of the marching tank gun. Both matched and mismatched uncertainties, which may be nonlinear (possibly fast) time varying but bounded, are considered. First, the pointing control system is constructed as a coupled, nonlinear, and uncertain dynamical system with two interconnected (horizontal and vertical) subsystems. Second, for the horizontal

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