中文摘要：

本文针对水平轨道直线型倒立摆的稳定控制问题，运用基于非线性系统扩展的谐波控制方法，实现了小车的水平位置和摆杆垂直位置的控制．与已有方法比较，此种方法不必对非线性系统进行线性化，系统模型更具真实性．仿真实验表明，本方法能较好地达到控制效果．此种方法也可运用到水平欠驱动机械臂等一类二阶非完整系统的控制中．

英文摘要：

With respect to the stable control of horizontal-track, straight-line inverted pendulum, with the help pf harmonic control method based on non-linear system extension theorem, the paper realizes the control of the trolley＇s level position and the swing link＇s vertical position. Compared with the other methods, this method does not need the linearization of nonlinear systems, and imparts more realness to system models. The simulation experiment indicates that using this method, a more manipulative effect can be achieved. This method can also could be used to control the planar underactuated manipulators and other second-order nonholonomic systems.