中文摘要：

为了克服欠驱动分步式控制器切换力矩大，调节时间长，吸引域小等关键难题，针对欠驱动Pendubot系统，利用滑模变结构控制方法取代常规的摇起、平衡分步式控制器，设计了摇起、平衡整合式控制器，实现了摇起、平衡控制的统一，极大的简化了控制器的模型，较好的解决了上述问题。最后通过仿真实验验证了控制器的可行性、有效性。

英文摘要：

To conquer the pivotal puzzles of underactuated multiple step format controller such as big switching moment, long accommodation time and small attrahent region, aiming at underactuated Pendubot, a controller that can achieve the function of the swing up controller and the balancing controller is designed. It can predigest the model of the controller and solve the problems above. The simulation results show that the proposed method is effective and feasible.