Abstract: To realize the non-linear control over the swing-up of a planar inverted pendulum, a human-simulated intelligent control strategy based on sensory-motor schema is presented. Through the on-line characteristic identification memory, multi-mode control combining open-loop with closed-loop control and the intuitive logical reasoning mechanism, the strategy enables the pendulum to swing from its stable equilibrium point up to an unstable equilibrium point where it remains stabilized. The simulation results successfully proved that the intelligent controller integrating qualitative reasoning with quantitative control is able to achieve the swing-up control of the complicated, non-linear, strong coupling and naturally unstable planar inverted pendulum. Meanwhile, it also provides an effective solution to controlling of other nonlinear multivariable systems.