An under-actuated pendulum control experimental apparatus relates to an under-actuated control experimental apparatus applying to academic researches for control theory and control engineering discipline and electron and transmission discipline, is used for solving the problems that experimental apparatus, which is used for the academic researches of non-linear control theory in higher education institutions and scientific institutions, still stays at numerical simulation level, appropriate material system is absent and the theory is disconnected with the practice. The upper I/O terminal and drive I/O terminal on a two-shaft motion control card are respectively connected with the I/O terminal of an upper computer and the I/O terminal of a DC motor driver. The control output terminal of theDC motor driver is connected with the control input terminal of a DC servo motor. The signal output terminals of the DC servo motor and an angle detector is connected with the signal input terminal ofthe two-shaft motion control card. The output shaft of the DC servo motor is connected with the input shaft of an under-actuated pendulum system by a shaft coupling. The input drive torque of the inp ut shaft of the under-actuated pendulum system is delivered to a double-pendulum output shaft through a synchronous drive system.