Abstract: Considering the problems of inaccurate speed tracking and stop in ATO (automatic train operation) system caused by external disturbance, actuator delay and uncertain basic resistance in the control process of urban rail transit EP (electro pneumatic ) braking system, and according to Liapunov stability theory, a control strategy of electric and pneumatic braking for urban rail transit train based on SMARC (sliding mode adaptive robust control) is proposed, and the SMARC controller is designed for urban rail transit train ATO system. Through robust control, all the uncertainties such as non\|linearity, input delay and external disturbance in the system model are reduced to the minimum range. Meanwhile, the chattering of sliding mode controller is weakened while the robustness of the controller is enhanced. The sliding mode control is further adopted to reduce the speed tracking and decelerating errors in the train braking process, so as to obtain higher stopping accuracy. Simulation results show that SMARC control can fully meet the braking requirements of urban rail transit trains.