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对 １ 个二层的非线性模型进行了仿射型化，使块对角结构具有分层仿射型特点，提出了滑动模块对角控制器的设计方法，实现了飞航导弹的非线性控制系统的设计。仿真结果表明，这种设计方法对模型参数变化具有很强的鲁棒性。
A two-layer non-linear model is affine-typed, so that the block diagonal structure has the characteristics of layered affine. The design method of the diagonal controller of sliding module is proposed, and the nonlinear control of the missile is realized System design. The simulation results show that this design method has strong robustness to the change of model parameters.