An introduction is made beforehand on the conceptual basis of sliding-mode variable structure control including its design goal, method, as well as the problems of invariability and chattering etc.

• 首先，研究了滑模变结构控制的设计及应用问题，内容包括滑模变结构控制的设计目标和设计方法、滑模交结构控制系统的不变性和抖振等问题。