中文摘要：

本文应用半实物仿真技术，基于MATLAB／Simulink控制系统设计与测试环境，设计实现了旋转倒立摆运动控制半实物仿真平台，进行了倒立摆系统建模与分析，并针对网络控制中的时延问题，提出一种具有时延补偿的时变滑模面的变结构控制方法，并应用MATLAB／Simulink控制系统设计与仿真工具进行实验分析，验证了控制策略的有效性。

英文摘要：

Based on MATLAB/Simulink control system design and testing environment, the rotary inverted pendulum motion control hardware-in-the-loop simulation platform was designed and implemented by applying hardware- in-the-loop simulation technology. The inverted pendulum system model was established and analyzed, and the sliding surface and sliding mode control law design process were shown. Through using MATLAB/Simulink control system design and simulation tools to analyze experiment, the control strategies effectiveness was verified.