The procedure for decompositional synthesis of the
robot manipulator control system with electric actuators has been
developed. The procedure ensures the exponential convergence
of generalized coordinates to given trajectories under the action
of external unmatched disturbances and the uncertainty of the
parameters of the mechanical subsystem. It is supposed to use
discontinuous controls and organization of sliding modes in the
virtual space of mixed variables (functions of state variables,
external influences and their derivatives). The original method
for the synthesis of a reduced order observer with high gains
is presented. The observer makes it possible to estimate the
mixed variables from measurements of only tracking errors
under conditions of uncertainty of the input channels.