Considering various disturbances and model uncertainty in power system, a coordination excitation controller for power angle stability and terminal voltage control is designed to enhance the robustness of excitation control and take terminal voltage limit into account. Power angle stability control tracks disturbance and compensate it in Terminal sliding mode and it makes disturbance tracking Terminal sliding mode excitation control. It’s able to suppress general disturbances, oscillations, and also resonance-type low-frequency oscillation. Meanwhile multi-objective zero dynamics sliding mode control is designed. It will be put to use when terminal voltage exceeds the limits or voltage jump occurs and it’s able to control power angle stability and improve terminal voltage property. The excitation controller operates through coordination switch of stability control and voltage control. Simulation shows that the controller is able to provide strong damping and stabilize power angle fast during disturbances, to suppress resonance-type low-frequency oscillation, as well as to control generator terminal voltage effectively.