模型系统有三个自由度，即：俯仰，滚转，偏航。
The model system has three freedoms, namely: Pitch, Roll, and Yaw.
同时采用小扰动法推导了俯仰通道和滚动通道的简化模型，为空气动力和姿控发动机推力复合控制系统进行初步设计提供了依据。
What′s more, according to the method of little disturbance, the simplified model of pitching and rolling plane is derived, so preliminarily combined control system can be designed.
因此，本文采用了变结构控制理论设计倾斜角稳定系统，采用了模型跟踪变结构控制理论设计俯仰、偏航通道的加速度稳定回路。
So, variable structure control theory is used in Angle stabilization of roll, and model - following variable structure control theory is used in acceleration stabilization of pitch and yaw.
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