中文摘要：

为了克服商业倒立摆存在通用性差，不便于改装升级，不利于新的控制算法探索和研究等问题，一种实时倒立摆系统被设计和实现。系统硬件采用PC机＋运动控制器方式；软件采用Real-Time Windows Target方式，使用SIMULINKCMEXS函数在PC机上开发了设备驱动模块，并通驱动模块构成实时倒立摆控制系统。实验结果表明，该系统通用性能高，倒立摆系统的软件和硬件参数完全已知，无任何加密或者固化，便于改装和升级，也方便算法研究者进行算法设计和实现。

英文摘要：

To overcome some shortcomings of commercial inverted pendulum products such as poor universal property, refitting and upgrading for inverted pendulum be unsuitable, real-time inverted pendulum system is designed and implemented. The PC computer and universal motion controller are employed to construct mainly the hardware system. With Real-Time Windows Target mode in PC computer, the real device driver modules of inverted pendulum system are programmed and implemented by using SIMULINK C MEX S function, and at the same time, the real-time control system of inverted pendulum system is constructed by the real device driver modules. Results of the experiment and simulation indicate that inverted pendulum system designed is good universal property, software and hardware parameters of that are known and not encrypted, refitting and upgrading for Inverted Pendulum are suitable, and exploring and researching new control algorithms is conductive.