In this thesis, we propose the method to combine the sliding mode control and cerebella model articulation controller(CMAC) for a rotary inverted pendulum system. First, against sliding mode control for the controlled system of control on the effect bad of the shortcomings to do to improve. Secondly, the design of a sliding mode control system CMAC. It make the system more quickly and effectively to achieve control objectives. The sliding mode CMAC is used as the main tracking controller which mimics an ideal sliding mode control, and a compensated controller is designed to compensate for the difference between the ideal sliding mode control and the CMAC. The Lyapunov theorem is used to prove the stability and convergence of the proposed scheme. Finally the computer simulation results show that the chattering and the steady state error are eliminated and satisfactory tracking is achieved.