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A modified linear equation of formation is given as the control system model of formation keeping control, which includes the influences of J2 perturbations. Based on system performance analysis of the control model, a control scheme was proposed which using thrusts without radial direction. Guarantee cost control (GCC) method based on LMI method was introduced to design the sliding surface, then a VSC control law for discrete-time linear system with mismatched uncertainty was given. A numeric simulation was given after a design example for LEO satellite formation to validate the robust of the control algorithm.