$H_{infty}$ control has been applied to the design of practical control systems widely because of its robustness. It can minimize $H_{infty}$ norm of the transfer function between the desired output and the disturbances. The SMC(Sliding Mode Control) is more robust and give the better performance than the $H_{infty}$ control if the matching condition is satisfied. A controller which can have the advantages of $H_{infty}$ control and the SMC is proposed to add the robustness of the SMC to the $H_{infty}$ controller. Its design is based on the augmented system of which dynamics have one higher order than that of the original system and has the same dynamic as the desired system in spite of uncertainties. The dynamic of proposed sliding surface is the same dynamic as the system controlled by $H_{infty}$ controller without the uncertainties which satisfy the matching condition.