A　growing　cognitive　model　of　motor　balance　skill,　which　simulates　the　manners　of　human　beings　and　animals　in　motor　balance　skill　learning,　is　constructed.　A　neuro-controller　based　on　the　model　is　proposed　to　balance　an　inverted　pendulum.　The　cognitive　model,　whose　architecture　is　similar　to　the　reflex　arc　of　the　biologic　nerve,　adopts　a　growing　algorithm　from　reference　to　Growing　Cell　Structures　in　order　to　perform　the　pattern　classification　in　the　nerve　center.　This　growing　mechanism　is　able　to　be　evolved　through　the　continuous　growing　of　the　new　nerve　cell.　And　reinforcement　Hebbian　Synaptic　Modification　is　used　as　the　self-learning　method　in　the　cognitive　model　to　make　the　neurons　in　difference　fields　to　respond　to　the　different　stimulus　in　the　best　way.　The　experimental　results　are　shown　that　the　growing　cognitive　model　can　interact　autonomously　with　the　environment　and　develop　the　motor　balance　skill　by　the　growing　manners　of　neural　system　itself.