| Nonlinear phenomenon is common in practice. With the development of nonlinear theory ,we have made great progress in the research field of nonlinear control systems. In the process of control, not all state variables are available due to either the difficulties of measuring state directly or physical limitations. One of the ways to solve this problem is to reconstruct the state variables of the system and use them to replace the actual state of the system to realize state feedback. So the design and application of nonlinear observers has became a vital part of nonlinear control. Inverted pendulum is a typical nonlinear, coupling system. The control of the pendulum can effectively reflect many vital problems, so it is a perfect model used in testing various control theories. In this paper, researches on feedback linearization control and control based on nonlinear observer of the inverted pendulum were carried out. And the net experiment based on pendulum was designed. First, This paper gives a systematic summary on the development of nonlinear observers and the inverted pendulum. In chapter 2,the structure and mathematical model of pendulum I, II, III are introduced. In chapter 3,the stable control of pendulum I, II were realized through feedback linearization. And in chapter4, discussion on several kinds of nonlinear observers is introduced and the comparison and analysis of simulation results are given. Then the variable-structure control of pendulum I,II based on linear and nonlinear observer were realized. In chapter5, to build pendulum net lab, 3D solid dummy environment of pendulum I, II, III is built with OpenGL .A great deal of calculation is done by the way of mixed programming using VC and Matlab. It has friendly interface and lively OpenGL automation. Users can caculate in matlab through the software expediently. Finally, the database management system was designed in Asp to perfect the net experiment.
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