The traditional TMD and AMD are ineffective for the vibration control of pendulum vibration swing motion. And the tuned rotary inertia damper (TRID) has low robustness and small application range. Active Rotary Inertia Driver（ARID）is proposed in this paper. It generates the moment of restraining the structure swing by the motor driving the inertia rotating. First, the in-plane swing pendular structures subjected to point source excitations with ARID analysis model is established based on Lagrangian principles. And the equation is linearized. The control algorithm is designed based on LQR. Then the effectiveness analysis is done using Simulink based on motion equations. The analysis results are compared with the TRID. Lastly, a shaking-table experiment system is designed to validate the effectiveness of ARID system. The research results of the paper establish theoretical foundation for deeper research of ARID system.