首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程，设计了基于李亚普诺夫方法的滑模变结构控制律。

First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory.

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对变速转子准稳态主动平衡系统，可按一定时间步长把变转速离散成有限个转动角速度。

For a quasi steady-state active balancing system of a speed-varying rotor, according to certain time steps the varying speed of the rotor is discretized into finite constant angular speeds.

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