針對平面式倒單擺的甩上與平衡控制，本文提出一個簡單而且自然的控制技術。整體的控制以切換式控制為主。當系統在甩上模式時，使用前後擺動能量增加的方法甩上倒單擺。這個方法在本文有加以證明。在平衡控制方面，使用監督式模糊控制的方法。監督式模糊控制包括模糊穩定控制與模糊目標角調整控制。這個方法屬於智慧型控制，是模仿人類特技雜耍的方式。由實驗成果可驗證所提方法的實用價值。

This paper gives a simple and natural control technique to realize
swing-up and balance control of a DSP-based pendubot. The switch con-
trol is utilized for the integrated controller. The backwards and forwards energy pumping method is used to swing up the pendulum. The proof of this method is provided in this paper. The supervisory fuzzy controller is exploited to stabilize the equilibrium position. The supervisory fuzzy controller includes the fuzzy stabilizing controller and fuzzy target angle tuner. The backwards and forwards energy pumping method and the su-pervisory fuzzy target angle tuner are the main contributions of this paper. The experimental results show the feasibility of this method.