中文说明：程序为倒立摆的滑模变结构控制程序，在二级摆上进行实验，调试运行正确。
English Description：
The program is the sliding mode variable structure control program of inverted pendulum. The experiment is carried out on the double pendulum, and the debugging operation is correct.
Sliding mode variable structure control of inverted pendulum
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中文说明：程序为倒立摆的滑模变结构控制程序，在二级摆上进行实验，调试运行正确。
English Description：
The program is the sliding mode variable structure control program of inverted pendulum. The experiment is carried out on the double pendulum, and the debugging operation is correct.