The system selects switching surface according to the approach of variable structure control . based on the control rules to design the variable structure controllers , the inner loop and the outer loop form a complete vsc control loop . the control system has switching surface and the system brings sliding along fixed desired trajectories 根據(jù)滑模變結(jié)構(gòu)控制方法選擇切換面,根據(jù)控制律,設(shè)計(jì)變結(jié)構(gòu)控制器,使內(nèi)環(huán)和外環(huán)合成為一個(gè)vsc控制器,系統(tǒng)的控制有切換,而且在切換面上系統(tǒng)將會沿著固定的軌跡產(chǎn)生滑動(dòng)運(yùn)動(dòng)。