In this paper, a hybrid system design method, based on cooperation between two disciplines -- control theory and computing science, is presented. The method suggests to decompose a hybrid system into control loops and decision loops. The external behaviour of control loops are specified in a notation, which is understandable by the two disciplines, while designs of control loops employ theory of differential equations. The correctness of the designs of control loops is guaranteed by control engineers analytically or experimentally. Decision loops are designed by computing engineers, and, based on the specifications of control loops, the verification of system requirements can be done by a reasoning mechanism of the notation. Two examples of the problem of inverted pendulum are given for illustration, and the Mean Value Calculus is chosen as the formal notation for specifying control loops and designing decision loops.