NEWLY MINTED IFR PLT BUSTS CROSSING RESTRS ON HURRIED; UNSTABILIZED GPS IAP TO PAO.

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I WAS RETURNING FROM SBP TO PAO ON A LATE EVENING VFR FLT; WITH FLT FOLLOWING SVCS. THE WX RPTED AT PAO WAS CEILING BROKEN AT 3000 FT; VISIBILITY 30 MI; WIND CALM. ABOUT 10 MI AFTER PASSING SNS; I DECIDED TO REQUEST A POP-UP IFR CLRNC TO PAO; BECAUSE IT WAS GETTING DARK AND I WAS NOT SURE I COULD FIND A HOLE TO DSND VFR TO PAO. I RECEIVED THE IFR CLRNC ABOUT 10 MI FROM DOCAL INTXN; WHILE AT 5000 FT -- LOWER WAS NOT POSSIBLE DUE TO CLOUDS. I WAS CLRED FOR THE APCH ABOUT 2 MI FROM DOCAL INTXN WITH INSTRUCTIONS TO CROSS DOCAL INTXN AT OR ABOVE 4400 FT. SHORTLY AFTER CROSSING DOCAL INTXN; I ENTERED IMC. THE NEXT STEP DOWN WAYPOINT IS ACHOZ AT 3500 FT AND 3 MI FROM DOCAL AND LATER PUDBY AT 200 FT AND 5 MI FROM ACHOZ. I ENTERED THE RIGHT ALTS AND VERT SPD IN AUTOPLT WHILE CROSSING DOCAL; BUT IT TOOK ME LONGER THAN NECESSARY; THEREFORE I STARTED MY DSCNT WITH SOME DELAY. FURTHERMORE; I DIDN'T REDUCE THE PWR ENOUGH; CONSEQUENTLY MY AIRSPEED WAS TOO HIGH. WITH THAT IN MIND; I WAS CONCERNED TO BE MUCH TOO HIGH IN MY DSCNT AND I INCREASED VERT SPD. I BROKE OUT OF IMC AT ABOUT 2700 FT AND IMMEDIATELY LOOKED AND CHKED WERE THE ARPT WAS; BUT DIDN'T REDUCE MY VERT SPD AND DIDN'T LEVEL OFF BEFORE REACHING PUDBY. BECAUSE OF THAT; I BELIEVE I CROSSED PUDBY AT ABOUT 1500 FT; WELL BELOW MINIMUM ALT OF 2000 FT. I THINK THAT THE ROOT CAUSE OF THE ERROR WAS NOT ENOUGH EXPERIENCE IN THE ACTUAL IMC. I HAVE 60 HRS SIMULATED AND ONLY 12 HRS ACTUAL IMC. MOST OF THE ACTUAL IMC WAS WITH AN INSTRUCTOR AND THIS WAS MY FIRST IFR APCH IN ACTUAL CONDITIONS; AT NIGHT; WITH MY FAMILY WITH ME. ALTHOUGH THE WX WAS BENIGN; THIS CREATED A STRESS SUCH THAT; WHEN I BROKE OFF IMC; I MENTALLY ASSUMED TO BE UNDER VFR AND JUST CONTINUED MY DSCNT. CONTRIBUTING FACTORS: 1) DECISION TO POSTPONE REQUESTING IFR CLRNC; WHICH LEFT ME WITH LESS TIME TO REVIEW AND PREPARE FOR THE APCH. 2) FORGETTING TO REDUCE THE SPD; WHICH WOULD GIVE ME MORE TIME FOR THE DSCNT. I AM PLANNING TO TAKE TRAINING FLTS IN ACTUAL IMC CONDITIONS WITH AND WITHOUT THE INSTRUCTOR TO DEAL BETTER WITH AND MINIMIZE THE ASSOCIATED STRESS.