多模态转移型混合系统有兼顾安全和效率的不同层次上的镇定策略．从离散角度设计的滑动模反映了粗粒度的稳定性，将连续状态空间按需求离散特性划分为区域并关联一项离散指标．滑动模是离散指标组成的流型，被控连续状态轨线将最终滑动到流型“内”．本文从混合角度引入的滑动模兼顾了宏观和微观两方面的稳定目标，首先构造定性稳定子滑动模，再根据每个模态下的定量目标，构造子连续滑动模，但要求相继子连续滑动模连续，从而得到混合滑动模．混合状态最终将滑动到此流型“上” Multi-modal hybrid systems have different levels of stabilization strategy that balance safety and efficiency. The sliding mode designed from the discrete point of view reflects the stability of coarse-grained, and divides the continuous state-space-on-demand discretization into regions and associates a discrete indicator. Sliding mode is a discrete indicator of the flow pattern, controlled continuous state trajectory will eventually slide into the flow “inside.” In this paper, the sliding mode introduced from the mixed point of view takes into account the macro and micro aspects of the stability goals. Firstly, the qualitatively stable sub-sliding mode is constructed, and then the sub-continuous sliding mode is constructed according to the quantitative objective in each mode. However, Continuous mode, resulting in mixed sliding mode. Mixed state will eventually slide to this flow pattern “on”