中文摘要：

针对常规切换控制方法产生的抖振问题，将人工免疫的基本思想与切换控制原理结合起来，提出了基于人工免疫原理的切换控制器，给出了控制器的设计方法。将该控制器应用到台车式倒立摆系统的实际控制问题中，实验与仿真结果表明所设计的免疫切换控制能有效降低常规切换控制所产生的抖振，改善动态品质，提高控制性能。

英文摘要：

In order to reduce the chattering produced by conventional switching controller on the inverted pendulum experimental system, an immune switching controller was proposed which combines basic artificial immune principle with switching control. Design method of the controller was given. The controller was applied in the bogie hearth inverted pendulum control system. Experiment and simulation results demonstrate the controller can decrease the chattering phenomenon and improve dynamic quality effectively.