The Robust Integral of the Sign of the Error controllers or RISE controllers constitute a class of continuous robust control algorithms developed for nonlinear, control‐affine systems subject to uncertainties and disturbances. Distinguished by their capability to guarantee asymptotic tracking of reference trajectories even in the presence of bounded modeling errors, RISE controllers can be used where the exact system dynamics are unknown. For a while, RISE Controllers were thought to only achieve asymptotic tracking. I developed new theorems which showed the convergence is not only asymptotic but also exponential.