Application of PID Tracking Control in Inverted Pendulum System

Inverted Pendulum System is a typical high-order nonlinear system and always used to verify the effectiveness of the control algorithm. This article uses the PID tracking control to predict the pendulum swing angle, and builds a real environment to verify the algorithm. Firstly, the inverted pendulum is analyzed and simulated to get its system characteristics. Then build a real physical model of the whole control system. Finally, based on the real system, this paper uses the double closed-loop PID control algorithm and PID tracking control algorithm individually to verify and compare control effect. The experimental result shows that the PID tracking control has good robustness and can avoid the logic contradiction of speed loop’s parameter adjustment in the typical double closed-loop algorithm and this algorithm has higher efficiency of the parameter adjustment and practicability.