介绍了快速控制原型的产生、发展和优势。搭建了倒立机器人快速控制原型硬件平台。针对硬件平台，总结了快速控制原型设计流程，设计了Matlab/Simulink模型，实现了自动代码生成，完成了倒立机器人的平衡控制。结果表明，倒立机器人能在-2°～2°范围内保持平衡，验证了快速控制原型的优势。在控制系统最初的设计阶段，将Matlab/Simulink模型在实物中进行验证，可缩短开发周期，节省经费，提高开发效率。
Rapid control prototyping is introduced in terms of its generation, development and advantage. A hardware platform for inverted robot's rapid control prototyping is established and its design flow is summarized. Then a Matlab/Simulink model is designed and automatic code generation is realized to control the inverted robot. Simulation results show that the inverted robot can keep balance in the range between -2 and 2 degrees, which demostrates the advantage of the rapid control prototyping. In the initial step of the design procedure the Matlab/Simulink model can be tested in real situation so as to reduce the design cycle, save cost and speed up development efficiency.
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