说明：  详细介绍了单级倒立摆模型的建立，稳定控制和起摆控制的仿真及实时控制的实现，二级摆和三级摆的控制
(Details of the single-stage model of inverted pendulum, stability control and swing control of the simulation and realization of real-time control, secondary and tertiary pendulum swing)