Inverted　pendulum　is　a　control　system,　with　the　feature　of　high　order,　muti-variable,　non-linearity　and　unstable　naturally.　It　is　quite　important　for　us　to　study　its　balance　and　stability　in　control　engineering　field.　In　this　paper,　a　flywheel　inverted　pendulum,　as　an　object　to　be　controlled,　the　dynamic　model　has　been　established,　and　the　mathematical　model　which　established　has　been　certificated　and　did　system　performance　analysis.　Then,　as　the　linear　model,　the　fuzzy　controller　is　designed　based　on　packet　control.　The　method　can　decrease　the　number　of　fuzzy　rules　and　avoid　the　rule＇s　explosion.　The　simulation　results　show　that　the　fuzzy　controller　makes　the　system　achieve　stabilization　and　balance　control.　©　2010　IEEE.