Rotational Inverted Pendulum is a typical nonlinear, unstable and strong coupling system. How to design a control system to restore the equilibrium state quickly and stably is a problem worth studying. High order super twisting sliding mode system has the advantages of traditional sliding mode control system. Super twisting system can elimination control chatter due to the discontinuities of control variable which contain in traditional sliding mode system. The super twisting system is designed. The saturation function replaces the sign function in the super twisting control function to improve the smoothness of the control variable. The simulation shows that this design has excellent precision. Inverted pendulum has smaller movement stroke than traditional super twisting system. Control chatter is also smaller than traditional super twisting system.

旋转倒立摆是一种典型的非线性，不稳定和强耦合系统。如何设计一种控制系统来快速，稳定地恢复平衡状态是一个值得研究的问题。高阶超扭曲滑模系统具有传统滑模控制系统的优点。由于传统滑模系统中所包含的控制变量的不连续性，超级加捻系统可以消除控制颤动。设计了超级加捻系统。饱和功能取代了超级扭曲控制功能中的符号功能，以提高控制变量的平滑度。仿真表明，该设计具有极好的精度。倒立摆的运动行程比传统的超级扭曲系统小。