A lightweight-compact variable-gap undulator (LCVGU) having the force-cancellation system based on the multipole monolithic magnets (MMMs) has been developed. The LCVGU is free from the heavy mechanical frames, which is a fundamental element specific to conventional variable-gap undulators (VGUs) because of a strong attractive force, and thus the cost and time for construction and installation are expected to be significantly reduced; the MMMs counteract the strong attractive force in a cost-effective manner. Results of mechanical tests and magnetic-field measurements of two prototype LCVGUs equipped with the proposed force cancellation system have revealed the comparable performance with the conventional VGUs.