采用极点配置的方法控制一级倒立摆系统，通过改变系统的参数，即增益系数K，最后使系统达到平衡。-Pole placement method using an inverted pendulum control system, by changing the system parameters, ie gain coefficient K, the last to make the system balanced.

TakaTuka :专门用于无线传感器网络的java虚拟机-TakaTuka: specifically for wireless sensor networks java virtual machine