A high performance controller was designed based on variable structure control(VSC) theory in this paper.The control plant is the typical structure of two axes and four frames,and the controller is sliding mode controller based on Kalman filtering.Comparisons between the controller with filter and the controller without filter were made through tracking different signals when process noise and sensor noise were obvious.The results show that the tracking performance is improved by variable structure control scheme based on Kalman filter,and the accuracy of tracking is enhanced.