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本文针对不确定输入时滞系统，提出了一种具有滑动模态的变结构控制。先把系统变换成形式上不含时滞的系统，再据变换后的系统设计切换函数和控制律。用切换函数使滑动模态渐近稳定，用变化的不连续控制保证滑动模态的存在和削弱抖振。最后，通过一开环不稳定的不确定系统仿真，验证本文的方法是有效的。
In this paper, a variable structure control with sliding mode is proposed for the uncertain input delay system. First, the system is transformed into a system without delay, and then according to the transformed system design switching function and control law. The sliding mode is asymptotically stable by using the switching function, and the existence of sliding modes is guaranteed by varying discontinuous control and the chattering is weakened. Finally, the method in this paper is validated by an open loop unstable system simulation.