Abstarct: In this thesis, robust integral of the sign of the error method (RISE) is proposed to path tracking control for Turbocharged Diesel Engine (TDE) model. In designing controllers baxsed on the model, a detailed understanding of the dynamic model is important that in application this disturbances and uncertainties in the system are difficult. One of the common methods to cope with model uncertainties is using the sliding mode control that despite advantages including simplicity in the design of the controller, there is disadvantages in result due to the chattering phenomenon. Therefore, in this thesis to solve this problem and to improve the steady-state error, a new control method baxsed on robust integral of the sign of the error (RISE) is used. In the proposed controller for compensation uncertainties in the system, a dynamics term is defined and it derived for using in controller. This term will estimate the system uncertainties and it caused that the error is converged to zero. To derive the appropriate control law to stabilize the closed-loop system, suitable Lyapunov function is proposed and the necessary analysis system stability is done. In continue, the necessary analysis was carried out according to the asymptotic stability control system according to the proposed law has been proven. By applying different controllers such as proposed controller, simulation is performed and the results show that at the end of the path, the proposed approach is less control effort than other methods, and while there is less control effort, the steady-state tracking error is reduced in the proposed method.