There is a great demand today for autonomous robotic systems for application in the scope of the aerospace, health, entertainment, military, among other sectors. The inverted pendulum, a system that is unstable by nature is widely used as a benchmark for investigating control methods, just as the development of new techniques. The objective of this work consists of designing a pendulum with the aid of the SOLIDWORKS software and building an experimental bench according to the technical drawings made in the project, as well as developing the necessary hardware for its operation, in order to test different control algorithms. A mathematical model of the system using Lagrange formulation is proposed in order to obtain the system dynamics equations. In the end, three different control methods were compared a classic derivative proportional integrative control (PID), a modern linear quadratic regulator (LQR) and a non-linear Swing-up controller. The response time, robustness and disturbances of each control were analyzed and then compared with each other. There is also a comparison between the experimental data and results generated by simulation with the software MATLAB/SIMULINK.