提出了一种可具有非严格正实参考模型的变结构鲁棒自适应控制方案，可去除变结构模型参考自适应控制中普遍要求参考模型为严格正实或当相对阶大于１时参考模型经补偿后为严格正实的假设．在此基础上提出的变结构控制律可保证跟踪误差在相对阶为１时于有限时间内收敛到零，而当相对阶大于１时则可使跟踪误差收敛到一个残差集内． A variable structure robust adaptive control scheme with non-strict positive real reference model is proposed. It is generally required to remove the variable structure model in reference adaptive control. The reference model is strictly positive or when the relative order is greater than 1, After compensation for the strict and positive assumptions. The proposed variable structure control law guarantees that the tracking error converges to zero within a finite time when the relative order is 1, while when the relative order is greater than 1, the tracking error can be converged into a residual set.