In contrast to other variable control methods, variable structure terminal sliding mode control ( vstsmc ) avoids local sliding mode existing on each switching hyper plane . therefore, the system states can enter terminal sliding mode directly with desired dynamic characteristics 变结构最终滑动模态控制(variablestructureterminalslidingmodecontrol)(vstsmc)方法与其它滑动模念变结构控制方法相比,避免了在各个切换超平面上存在局部滑动模态的情况。