Reverse pendulum system in linear and nonlinear control is considered as a mechanical and dynamic system of inverters. This system, due to the lower number of stimuli than its degrees of freedom, is inertial, which itself creates a lot of constraints for what can be achieved through the controller. The inertia of the reverse pendulum system is one of the major control challenges in that, because only two control variables must be controlled by a control input. Laboratory reverse pendulum is presented to investigate the behavior of similar systems in the industry. Types of equilibrium systems, such as rockets, dual robots, etc., are similar to those of the reverse pendulum system in the industry. This system has a nonlinear, unstable, and highly reactive dynamics.