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In the design and development of model-based Embedded control system, it has been proved to be an efficient, reliable and convenient method to automatically generate Embedded codes for control algorithms and system models by using Simulink Coder and Embedded Coder tools. Mathworks for built-in Simulink module and target code generation of MTALAB function provides support, lack of is a target for embedded development in direct support of peripheral functions, such as digital and analog input/output, network communications and other function of micro-controller itself, and that for embedded system development is often an important and indispensable part. In order to achieve the goal of Cortex-M3 kernel micro-controller which is widely used in the field of industrial embedded products, the STM32F1XTarget target system supporting common peripheral functions and the matching embedded control board are designed and developed, and the work flow of STM32F1XTarget and the design principle of custom device driver module are described in detail. Design target system supported by the system model to the application download one-click operation, the algorithm design and product development of seamless connection together, greatly accelerated the development process of embedded control system, reduce the cost and the last in the inverted pendulum embedded control system development experimental verification, test the validity and reliability of the target.