中文说明：在matlab环境下，利用滑膜变结构控制对直线二级倒立摆进行仿真调试。广泛应用于滑膜控制系统的研究。
English Description：
In Matlab environment, the sliding membrane variable structure control is used to simulate and debug the linear double inverted pendulum. It is widely used in the research of synovial control system.