The cart-pole system is one of the most popular laboratory experiments for control education. Balance control of the system is usually utilised for control theory education. Inevitably, one has to set an initial pole-angle. But it is hard to accurately set the angle by hand. This paper first models the system. Then, a nonlinearity measure is introduced to analyse the control problems of the system. Afterwards, an energy-based controller is employed to automatically and accurately set the deviation for balance control, and a balance controller is subsequently utilised to stabilise the system. Physical experiments are carried out to verify the validity of this method for students.
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