The　quad-rotor　pendulum　is　a　multi-variable,　nonlinear　and　non-minimum　phase　system.　There　are　two　main　problems　considered　in　controlling　the　quad-rotor　pendulum:　one　is　how　to　response　quickly;　the　other　is　to　stabilize　the　quad-rotor　pendulum　at　the　expected　position.　In　order　to　solve　these　two　problems,　the　Backstepping　controller　is　used　to　realize　it,　the　simulation　results　show　that　the　proposed　approach　is　able　to　robustly　stabilize　the　quad-rotor　pendulum　and　move　it　to　any　position.