Bank-to-turn (BTT) technology is an important development direction of control technology for hypersonic gliding vehicles. This research focuses on the control system of bank-to-turn for the hypersonic gliding vehicle. By taking the equilibrium gliding trajectory as the reference trajectory, it analyzed the relationship between turn radius, falling height, and bank angle. The analysis shows that when designing the guiding and control command, the flight conditions and the limitation of the control ability need to be considered. Then the dynamics were separated into fast and slow variables in terms of singular perturbation theory. Furthermore, the trajectory linearization control (TLC) method was applied to design the control system. Simulation results show that the controller is robust and the command should be adjusted with the flight conditions to control the vehicle efficiently.