This thesis project, developed in the Dimeas department of the Politecnico of Turin, has as primary objective the design and control of an inverse pendulum on cart. Such a control is realized through a configuration of cascade PIDs, implemented in a PLCs7-1500. The system uses an electric actuation, by means of a brushless servomotor, that receives the control signals by the drive S210. After a short review of the scientific literature, where it is described the state of the art of this argument, it is reported the project of the test bench, realized through the software Solidworks. Moreover, all the adopted components are described.