MATLAB Simulation of PID Control for Single Inverted Pendulum System

In the following content, I will provide a detailed introduction to the MATLAB simulation program for PID control of a single inverted pendulum system. This program employs a dual closed-loop PID control strategy, which has been widely adopted and proven to deliver excellent control performance. The control methodology fundamentally relies on real-time monitoring and adjustment of the system's dynamic response, ensuring rapid and accurate system reactions to achieve desired control objectives. The implementation typically involves two main control loops: an inner loop for pendulum angle stabilization using PD control, and an outer loop for cart position regulation using PI control. Key MATLAB functions used include ode45 for solving differential equations and pidtune for parameter optimization. This control approach finds extensive applications across various automation systems, including robotics, aircraft control, and industrial process control. Furthermore, the program allows for control performance optimization through PID parameter adjustments, making it highly flexible and customizable for achieving optimal results across different application scenarios. The simulation includes code segments for system modeling, controller design, and real-time performance visualization through MATLAB's plotting capabilities.