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.

• 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。