说明：  这是一篇硕士论文，研究了倒立摆建模，稳定控制，和起摆控制，采用Bang-bang控制起摆，并给出了明确的仿真结果。
(This is a master' s thesis studied the inverted pendulum modeling, stability control and swing control, the use of Bang-bang control of swing, and gives a clear simulation results.)