A kind of self-organizing controller is proposed, which can accomplish time-optimal control of the unknown plant through adaptation. The self-organizing controller consists of the controller which has a variable switching surface and the adaptation logic net which observes the state of the controlled plant and the control signal yielded by the controller. It can improve the parameters of the controller according to the adaptation algorithm. The proposed method required neither information on the plant dynamics nor its identification. Adaptation is carried out on line. Computer simulation shows the effectiveness of the method.