针对阀控缸电液伺服系统的特点，应用非线性系统几何理论，将原非线性系统作全局精确线性化变换，并解释了其物理意义．然后对线性化了的系统，设计了模型到达变结构控制器（ＭＲＶＳＣ），充分发挥滑态（ＳＭ）的优良特性及其对摄动的不变性，并引入了位移、速度、加速度反馈，使系统具有很强的鲁棒性．该方法不要求模型的精确性，算法简单，便于实时控制 Aiming at the characteristics of valve-controlled cylinder electro-hydraulic servo system, the non-linear system geometry theory is used to make the original non-linear system make global accurate linear transformation and explain its physical meaning. Then, for the linearized system, the model arrival variable structure controller (MRVSC) is designed to give full play to the excellent characteristics of sliding state (SM) and its invariance to perturbation, and introduce the displacement, velocity and acceleration feedback The system has strong robustness. The method does not require the accuracy of the model, the algorithm is simple and easy to control in real time