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从杂技顶杆演艺的机理出发，采用相平面分析法并结合人的控制经验，阐述一种比较直观的定性分析与定量估算相结合的拟人智能控制倒立摆方法，从而形成一级倒立摆的控制规律．在引入“等效小车”概念的基础上，易将一级倒立摆系统的分析方法推广到二级、三级（甚至更多级）倒立摆系统的分析．理论分析与实测结果是一致的，从而表明相平面这种定性的分析方法分析倒立摆是可行的．
Based on the mechanism of acrobatic jacking, phase plane analysis and human control experience are used to describe a more intuitive method of humanoid intelligent control inverted pendulum, which combines the qualitative analysis and quantitative estimation to form an inverted pendulum law. Based on the introduction of the concept of “equivalent trolley”, it is easy to generalize the analysis method of the inverted pendulum system to the analysis of the inverted pendulum system of two, three (or even more) levels. The theoretical analysis and the measured results are consistent, which shows that the phase plane of this qualitative analysis of inverted pendulum is feasible.