The inverted pendulum, a famous mechatronic application, exists in many different forms.The common pattern among these systems is to balance the end link using feedback control.This project work systematizes the work done on a project titled " FABRICATIONROTARY INVERTED PENDULUM", also known as a Furuta Pendulum. It consists of abase frame on which arm is mounted, the horizontal arm is driven by DC geared motor withincremental encoder, and the vertical link moves in the plane perpendicular to a plane in which the horizontal arm is moving. To begin with, the dynamic model of a single link pendulum was created in sim-mechanics MATLAB and after that, the model of the rotary inverted pendulum was created in SOLIDWORKS which was then exported to Sim-mechanics. For the control of the pendulum, a Proportional-Integral and Derivative (PID) controller was designed in sim mechanics and validated in Simulink MATLAB using state-space representation, by tuning the gain values using the Ziegler-Nicolas algorithm. The controller was implemented on the physical system with the Arduino Mega 2560 microcontroller. Some of the components viz pendulum arm and pendulum used in this project were 3D printed. The entire project was created to be as cost-effective as possible from the beginning, and low-cost components were employed whenever feasible. In conclusion, the system was able to maintain stability in the upright position. The physical system and dynamic model, as well as the controller design, are described in this study.