-Inverted pendulum system has nonlinear, unstable, non-minima phase and subsonic dynamics, and thus stabilization and control of this system have always been considered. Factors affecting the system are environmental factors and disturbances that have made control of the system as a complex issue. This system is a very common control issue for training linear and nonlinear control theories of mechanical systems with nonlinear dynamics, robotics, missiles, aerial vehicles and space ships that are used in research centers around the world. A kind of this system is used to control the balance of motorcycles in rotary motion for paths of different radii.