滑模变结构控制在本质上就是一种特殊的非线性控制。它的非线性主要是因为控制的不连续性，也就是说滑模控制的“结构”有一种随时间变化的的开关特性。-Sliding Mode Control in essence, is a special kind of nonlinear control. Its nonlinear mainly because of the control of the discontinuity, which means that the sliding mode contro