介绍一种新型单级旋转倒立摆系统的构成，通过对其动力学特性的分析建立了基于Lagrange方程的数学模型。在平衡点附近给出系统的线性化模型，对系统的稳定性、能控性和能观性进行了分析。利用线性二次型最优控制策略LQR方法设计了控制器，并在仿真实验和实物实验中实现了倒立摆的平衡控制。实验表明，系统稳定性好、鲁棒性较强。

In this paper the design and realization of the rotary inverted pendulum (RIP) control system is presented. After analyzing its dynamic characteristics, the system model based on Lagrange method is devised. In addition, linear quadratic regulator (LQR) is designed and implemented on the RIP system by successfully balancing the pendulum in the inverted position. Simulation and experimental results are presented to show the stable and robust responses of the control system.