The paper deals with computation and implementation of swing-up pulse for inverted pendulum educational model. It presents derivation of the full nonlinear mathematical model, formulation of dynamic optimization task and its solution by use of DYNOPT toolbox that finds control signal which causes rising of the pendulum into upright position. The control scheme containing this control signal is implemented in PAC (programmable automation controller) WinPAC-8000 with the use of REX Control System. The computed swing-up pulse is used for simulation in Simulink environment. The real measurement of state variables is also presented.