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In order to steady the pendulum, a mathematical modelbased on mechanism modeling method is established, and sliding mode control method based on improved exponent trending law is put forward, then the sliding mode controller is designed. And then the system has good stability control and robustness. The simulation results show that, the sliding mode control based on improved exponent trending law can realize stable control of inverted pendulum, and it is more smooth than sliding mode control based on traditional exponent trending law in system input, and then reducing the burden of the controller. 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