Abstract: For the typical experiment system of nonlinear, strong coupling and multi-input/output control, a structural model of inverted pendulum system was set up with its working principle described. A controller design method based on state observer was proposed, and in the process of setting up the system model, the related basic parameters were measured experimentally on the vibrational mechanical principle of the pendulum system. The validity of the proposed control method was verified by experimental results, thus providing a theoretical basis and relevant method for the stable control and system design of an inverted pendulum system and other related system to be studied.