Application of Double-Loop PID Controller in the Inversed Pendulum Real-Time Control System

  • Xiaokan Wang
  • Zhongliang Sun
  • Shouxiang Zai
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 113)


The proposed double-loop PID control scheme may solve the problems of the unstable inverted pendulum system with single-input and double-outputs and strong nonlinear coupling. The feasibility of double-loop PID control’s multiple combinations scheme is studied by simulating with MATLAB. The simulation results showed that double-loop PD–PD control scheme was the best options when comparing all kinds of double-loop PID control methods. The real-time control experiment of the actual single inverted pendulum device confirmed that the proposed control scheme could realize the double closed-loop control of the car position and the swing link angle.


Double-loop PID control Real-time control Inverted pendulum Simulation 



The work was supported by the Innovation Fund for Small Technology-based Firms of China (No. 09C26214101775, No. 2009GJD00027) and Innovation Scientists and Technicians Troop Construction Projects of Zhengzhou City (10CXTD160).


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  1. 1.Henan Mechanical and Electrical Vocational Education GroupZhengzhouChina

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