本系统的干扰不满足扰动与系统的完全匹配条件，因此滑模控制系统的滑动模态将受到扰动的影响。

The disturbance in our system doesn't satisfy the matching condition, so the performance of sliding mode control system is affected by the mismatching disturbance.

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模型用带扰动观测器补偿的滑模变结构控制，对控制函数切换并受滑动模态控制。

Owing to applying the model of sliding mode variable-structure control that has compensation of disturbance monitor, switching control function was controlled by sliding mode.

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滑模控制系统在滑动模态时对外界干扰及参数变化具有完全的自适应性。

A sliding mode control system is fully self-adaptive against external disturbances, and parameter variations.

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