A planetary train type pendulum is considered in this paper, swing up and balance control is of concern. Due to that the sun gear is not directly connected to the planetary gear, an accelerated-speed profile is required to provide necessary driving torque. In this paper, a fuzzy logic control scheme is considered. Particularly, an energy compensation scenario is proposed so that stabilizing equilibrium can be pre-served regardless of the initial positions. Compared with conventional energy-based method, the pro-posed fuzzy controller provides better control per-formance with short transition period and distur-bance-free.