中文说明：本程序是三关机器人的仿真程序。将非线性变结构控制方法运用到三关节机器人系统的动力学控制中，建立了变结构控制器。
English Description：
This program is the simulation program of the robot. The nonlinear variable structure control method is applied to the dynamic control of three joint robot system, and the variable structure controller is established.