中文摘要：

文章对倒立摆进行了详细的力学分析，建立了该种倒立摆的数学模型，并为系统设计了线性二次指标最优控制器。然后，通过计算机散值仿真实验，为倒立摆控制系统选取合适的性能指标和状态反馈矩阵，仿真实验结果说明，应用该状态反馈控制，能够取得了良好的控制效果。最后，文章建立了基于matlabRTW实时工具箱的倒立摆实时控制平台。通过倒立摆的实时控制实验，验证了理论吩哳和数值仿真的正确性。

英文摘要：

It established mathematical models of inverted pendulum system. According linear quadratic optimal control theory,the paper put forward an optimal controller for the system. Then the state feedback matrix is selected according the computer simulation experiments result. The simulation result showed that the inverted pendulum system with the state feedback matrix had good performance. In addition,the real-time control of the pendulum has been accomplished successfully based on the real-time control model built in simulink. The real-time control experiment also validated the correctness of the theoretical analysis and the rightness of the computer simulation.