6、signareasonablepneumaticcontrolloop,bycontrollingandregulatingpressure,flowatcompressedneceengththdirectionprocedurework.The inverted pendulum is a typical high order system, with multi variable, non-linear, strong-coupling, fleet and absolutely instable. It is representative as an ideal model to p
7、rove new control theory and techniques. During the control process, pendulum can effectively reflect many key problems such as equanimity, robust, follow-up and track, therefore.This paper studies a control