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本文研究柔性机械手臂在竖直平面内的调节问题．首先给出了在重力作用下滑动模的运动方程，进而得到了滑动模极点配置问题的显解，最后给出了在非匹配参数扰动下使滑动模具有良好动态品质的鲁棒极点配置方法，从而解决了早期工作中提出的关于滑动模控制器设计中的极点配置及鲁棒性问题，为滑动模控制方法应用于柔性机械手鲁棒控制问题奠定了理论基础．
In this paper, the adjustment problem of flexible manipulator in the vertical plane is studied. Firstly, the equations of motion of the sliding mode under the action of gravity are given, and then the problem of the pole assignment of the sliding mode is solved. Finally, a robust pole placement method is proposed, which gives the sliding mode good dynamic quality under the disturbance of the unmatched parameters. Thus, the pole placement and robustness of sliding mode controller proposed in the earlier work are solved, which lays a theoretical foundation for the application of sliding mode control to flexible manipulator robust control.