Based on the mechanism of sliding mode variable control, a controller which has the desired dynamic behavior and strong robustness has been designed. The discontinuity plane for sliding mode control may be found in an explicit form by means of the Ackermann formula. It is shown that the sliding mode has the desired dynamic behavior using the pole of a Butterworth filter and that Sigmoid functions can restrain chattering of the systems. This method was employed to control an inverted pendulum system and simulations are given for when the plant contains uncertain parameters. The method has better control performance than previous methods. The controller in the dynamic process shows the particularity of the improved Butterworth filter and can quickly achieve the desired sliding mode surface during the steady state. The systems have the desired dynamic characteristics.