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A robust sliding mode control is proposed for a class of nonlinear uncertain systems based on backstepping. The terminal sliding mode manifold and control methodology are designed to guarantee the error variables of the error dynamics to reach the sliding mode manifold in finite time. Then the error variables of the error dynamics can convergence on equation point using backstepping in finite time. The system state can be estimated quickly. The convergence rate between the observer and the system can be changed by choosing suitable sliding mode manifold, so as to attain the desired performances. Simulation results are presented to validate the design.