Currently　most　researchers　of　self-balancing　moving　mechanical　system　regard　angle　control,　position　control　or　both,　as　their　control　objectives,　seldom　considering　speed　control.　Due　to　this　reason,　a　simple　fuzzy　controller　is　designed　to　achieve　uniform-velocity　walking　of　the　linear　single　inverted　pendulum.　Such　controller＇s　validity　has　been　verified　through　experiments　on　the　IP　(inverted　pendulum)　system.　Given　the　preset　value　of　its　velocity,　the　inverted　pendulum　shows　a　good　dynamic　performance　by　adjusting　several　gain　parameters,　and　its　robustness　behaves　also　well.　Due　to　the　walking　distance　limitation　of　the　real　IP　system,　we　design　an　automatic　switch　and　a　manual　switch,　so　that　the　fuzzy　controller　realizes　the　following　three　tasks:　angle　control,　position　control　and　uniform-velocity　walking　control.　ne　correlation　between　gain　parameters　and　system　dynamic　performance　is　also　given.