滑模自适应控制，滑模自适应鲁棒控制，控制效果好，鲁棒性好。-PID and MATLAB simulink

提出了一种自适应反演滑模控制，并在Labview上实现，利用roboRIO可实现对2自由度脚踝康复机器人的实时控制。(An adaptive backstepping sliding mode control is proposed and implemented on Labview. The real-time control of 2 degree of freedom ankle rehabilitation robot can be realized by using roboRIO.