Abstract: The controller of inverted pendulum cart system(IPCS) is designed based on sensory-motor intelligent schema(SMIS) of human simulated intelligent control(HSIS) theory.The contriving process includes establishing Lagrange dynamics model,simplifying control issue,partitioning control phase,and designing sub-controllers which are gathered to compose chief-controller.The simulation model is built based on Simulink and each control phase is implemented in the form of Matlab program,then both are integrated to study the swing-up and stabilization characteristics of control.For seeking the optimization solution,parameters of IPCS controller are evolved by genetic algorithm(GA) with two different encoded modes,i.e.binary and float.