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讨论了含结构不确定ＳＩＳＯ系统的变结构模型参考鲁棒自适应控制问题，提出了一种新的变结构控制方法，使得：１）系统在同时含参数及结构不确定性时，跟踪误差仍能在有限时间内收敛到零；２）无须假设参考模型为ＳＰＲ（严格正实）函数．理论分析与数值仿真结果是一致的．
The variable structure model reference robust adaptive control problem with structure uncertain SISO system is discussed. A new variable structure control method is proposed, which makes: 1) when the system contains both parameters and structural uncertainty, the tracking error Can converge to zero within a finite time; 2) It is not necessary to assume that the reference model is a SPR (strict positive) function. The theoretical analysis and numerical simulation results are consistent.