The essay are based on Lagrangian dynamic analysis method, derived the equations of motion between the inverted pendulum and the rotating arm. In the approximation of a viable system of processing, analysis on which leads to realize a simplified power control law. Through the inputs of the angle of the inverted pendulum angle and angular rate and the trend of the change we can use fuzzy decision-making control method to adjusting the rotating arm speed, steering angle displacement and the rotation rate of change to achieve a better effect of the inverted pendulum vibration, of swinging adjustment and balance to keep to requirements of the system steady-state control. And last we verify that the control method is feasible through systematic experiments.