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文章研究了多输入多输出（ＭＩＭＯ）非线性系统的线性多模型控制问题．首先给出了ＭＩＭＯ非线性系统多模型线性化的表示，提出了一种根据期望的参考轨迹确定平衡点的位置和数量的方法；其次，通过对平衡点和模型切换点的合理选择，使得在全局范围内对非线性系统有较好的近似性．线性过程与非线性过程之间存在的残差通过连续滑动模控制（ＣＳＭＣ）进行了消除，且避免了一般滑动模控制引起的抖动现象．最后，研究了以上方法在三轴转台控制中的应用．
The paper studies the problem of linear multi-model control in MIMO nonlinear systems. Firstly, the multi-model linearization representation of MIMO nonlinear system is given, and a method of determining the position and number of equilibrium points based on the expected reference trajectory is proposed. Secondly, through the reasonable choice of equilibrium points and model switching points, There is a good approximation to nonlinear systems globally. The residuals between the linear process and the nonlinear process are eliminated by continuous sliding mode control (CSMC), and the jitter caused by the general sliding mode control is avoided. Finally, the application of the above method in triaxial turret control is studied.