倒立摆系统是一个复杂的、不稳定的、非线性系统,是进行控制理论教学及开展各种控制实验的理想实验平台。基于倒立摆系统的近似线形动力学模型,并运用Modelica语言对倒立摆系统进行数学建模;基于Simforge环境对倒立摆系统的反馈控制进行了仿真,并演示了建立的倒立摆模块地参数调节方法。说明运用Modelica语言对倒立摆系统建立的数学建模是有效的,而在Simforge环境对倒立摆模块的调用是方便的。 Inverted pendulum system is a complex, unstable, non-linear system, which is an ideal experimental platform for teaching control theory and various control experiments. Based on the approximate linear dynamic model of the inverted pendulum system, the mathematical model of the inverted pendulum system is modeled using the Modelica language. The feedback control of the inverted pendulum system is simulated based on the Simforge environment, and the method of parameter adjustment of the inverted pendulum module is demonstrated . It shows that it is effective to establish the mathematical model of the inverted pendulum system using Modelica language and it is convenient to call the inverted pendulum module in the Simforge environment.