Basic 2D pole-balancing setup in Phaser (Box2D)

Ignoring the task of actually balancing a pole by providing the appropriate forces at the appropriate times (that part's fine), does anyone have some basic guidance on how to setup the task of pole-balancing in Phaser? I have the Phaser-based Box2D plugin as well, if that makes it easier.

Basically I'm looking for the type of objects to create (e.g., bodies, joints), the creation/initialization process, and the process of applying forces in either direction. Doesn't matter to me that those forces are incorrect initially, I'm just not sure how to build the scene I want within Phaser.

I get the impression such things should be quite simple to do in Phaser, but it doesn't feel that way to me at present.