The invention provides a four-rotor aircraft speed control method based on integral variable structure control, and relates to the technical field of embedded systems, digital signal processing, microminiature unmanned aerial vehicles and the like. Firstly, building a four-rotor aircraft experimental platform, wherein the platform is an aircraft rack constructed by carbon fiber materials and a designed flight control embedded system; secondly, designing a flight control system by adopting a hierarchical designing scheme, wherein the flight control system comprises an upper-layer control module and a lower-layer control module; thirdly, achieving aircraft attitude control in the lower-layer control module, achieving speed control in the upper-layer control module; and fourthly, using an integral variable structure control algorithm in the attitude control and the speed control. According to the four-rotor aircraft speed control method based on the integral variable structure control, a prithvi air defence exercise (pade) approximation algorithm, a Kalman filtering algorithm and the integral variable structure control algorithm are used, algorithm complexity of the system is reduced greatly through the pade approximation algorithm; system state quantity which can not be obtained directly through sensors is obtained through the Kalman filtering algorithm; and lastly an integral variable structure controller is designed, wherein the integral variable structure controller has strong robustness and anti-interference performance.