| Inverted pendulum is a complex, time-varying, nonlinear, strong coupling, naturally unstable and higher order system. Inverted pendulum is perfect experiment equipment not only for pedagogy but for research because many abstract concepts of control theory can be demonstrated by the system-based experiments. The paper consists of the design and realization of mechanical system, motion control model and teaching experimental software of inverted pendulum, and they are adjusted. Then, self-swinging up and stability control are implemented based on modeling and simulation of the inverted pendulum.Mechanical 3-D model of this inverted pendulum is accomplished by Solidworks. The co-simulation of inverted pendulum is completed by ADAMS being combined with Matlab/Simulink, and the feasibility of mechanical system is confirmed.Motion control system selects AC servo motor, incremental photo-electricity encoder, motion controller which is based on digital signal processor. The motion controller improves control precision of the system.The flow diagram of inverted pendulum system is set up, and based on it the teaching experimental software is compiled in C language. Self-swinging up of inverted pendulum is realized by energy control algorithm and stability control is realized by LQR and PID algorithm. This software can accomplish the functions of data acquisition, control rate calculation, control output, data display, curve demonstrated and animation.Self-Swinging up and Stability Control of inverted pendulum are implemented through adjusting mechanical system, motion control model and teaching experimental software of inverted pendulum and testing energy control algorithm and LQR algorithm. Stable error is ≤ 1.7° and reaches the better level.
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