This dissertation is related to the control of a Cart Inverted Pendulum system, starting from the modelling and design of a test benchmark using a DC Motor and a transmission mechanism composed by a screw and a linear guide. The electric motor is controlled by a driver and a PLC. The chosen simulation environment for this purpose is Matlab/Simulink used for the design of different type of controllers. The project starts from the definition of a mathematical model translated in a Simulink functional block’s system that reflects the transfer functions of the system. The controllers are designed with different techniques: the first related to two PID controllers with different architectures (cascade and two parallel loop) useful for their simplicity; on the other hand, the static state feedback technique is used like pole placement or LQR with an integral action and an observer to adapt these control techniques to the measures that are available in the project of the real test benchmark.