说明：  这是用飞思卡尔单片机MC9S12XS128实现的一级倒立摆，里面有详细的解释，基本都有注解。 机械上包括：一个直流电机，一个电位器检测摆杆角度，一个两相编码器反馈转角。 软件上采用了四倍化编码器，将原来编码器的1000线，变成了4000线，倒立摆的控制周期定位了10ms，可改，该实验达到了平衡控制的目的，但是并没有完成上甩，需要用手把摆杆放直，然后启动单片机，实验时，单片机在30度内平衡控制，由于所选的电机虚位大，所以控制时抖的厉害。
(Freescale microcontroller MC9S12XS128 an inverted pendulum, which are explained in detail, and basically has a comment. Machine, comprising: a DC motor, a potentiometer for detecting the pendulum angle, a two-phase encoder feedback corner. The software uses four times the encoder, the original encoder 1000 lines into 4000 lines, inverted pendulum control cycle positioning 10ms, can be changed, the experiment to achieve the purpose of balance control, but not completed on rejection, need hand the pendulum put straight, and then start the microcontroller, experiment, microcontroller 30 degrees balance control the selected motor imaginary bit control when shaking.)