Controller　design　for　nonlinear　system　is　a　significant　problem.　Applying　an　inverted　pendulum　as　the　controlled　plant,　a　heuristic　function　controller　is　designed.　Combining　desired　error　convergence　speed　information　and　steady-state-error　requirement　information　in　a　heuristic　function,　heuristic　function　controller　provides　a　control　law　for　single　inverted　pendulum　to　meet　desired　dynamic　and　static　performance.　MATLAB/SIMULINK　simulation　results　demonstrate　that　the　inverted　pendulum　under　the　control　law　not　only　has　accuracy　and　speed　properties,　but　also　has　anti-interference　capability,　which　are　better　than　under　classic　proportional-derivative　control　law.