“…However, up to now, formulating controllers satisfying control performance and the stability of the system is still a big challenge due to its high nonlinearity, coupling dynamics reactions, and uncertainties [1]. In order to deal with these problems, many approaches such as using a proportional integral derivative (PID) control [2], feedback linearization [3], robust control [4,5], adaptive control [6][7][8], backstepping (BSP) control [9,10], hybrid proportional derivative sliding mode control (PDSMC) [11], sliding mode control (SMC) [12][13][14][15] and even intelligent control [16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][31] have been studied.…”