与非网上的,还有更多
http://www.cirmall.com/circuit/1719/串级PID倒立摆——2013年电子设计大赛一等奖%20#/details
http://www.cirmall.com/circuit/603
http://www.cirmall.com/circuit/603
http://analog.eefocus.com/article/id-271217
http://www.arduino.cn/forum.php?mod=viewthread&tid=3826&highlight=倒立摆
http://www.arduino.cn/forum.php?mod=viewthread&tid=4039&highlight=倒立摆