The objective of this thesis is the realization of a didactic test-rig for studying the free and controlled dynamics of a plane pendulum actuated by a two-axis cart. The control targets are the development of control strategies for the regulation and servo behaviour of the simple pendulum, and the inverse pendulum. The system dynamic is modelled through an experimentally verified nonlinear model, linearised to develop the LQR controller. Sensor data is processed into information about the system states and limit definition of the cart position. The controller is implemented through real-time software NI VeriStand and a user interface is developed to dictate cart behaviours.