Inverted pendulum is an ideal model for testing different control strategies

through which effectiveness and control performance of various control algorithms can be judged. A control system for wheeled inverted pendulum is designed by using powerful operation function and interface of K60 micro control unit（ MCU） based on ARM Cortex-M4

and it is used to verify various new type control algorithm. For hardware

attitude detection system and motor driver unit which related to attitude control are introduced. For software

complementary filter

attitude controller

direction controller and velocity controller are introduced according to math model for system.Experimental results show that the control system has good robustness and stability

and it can exactly judge validity and control performance of control algorithm.