Abstarct: In this dissertation, a novel method, called "soft variable structure control using radial pole paths", is proposed to increase the regulation rate of single input -single output and multiple input-multiple output systems. The proposed method has a faster response comparing to the other soft variable structure methods mentioned in the literature. Furthermore, it is the first soft variable structure method which has been expanded to include multiple-input multiple-output linear systems. The proposed method is then combined with the Feedback Linearization Control technique to implement a soft variable structure control system that improves the speed of response in affine nonlinear single input-single output autonomous systems. The system is further complemented by adding uncertainties to the affine autonomous nonlinear single input-single output model to implement a robust soft variable structure control strategy for a class of affine autonomous uncertain nonlinear single input- single output systems. The stability of our proposed method is investigated using Circle Criterion and Kalman-Yakobuvich-Popov lemma. Simulation results in different systems show that the regulation rate is improved while the control signal constraint is satisfied.