Position and speed tracking control of inverted pendulum based on double PID controllers

Position and speed tracking control are two kinds of important attitude control of inverted pendulum. In this paper, double PID controllers are applied in position and speed tracking control of inverted pendulum. Two design schemes with different structure of double PID controllers are given. One scheme is double series PID controllers. And the other is double parallel PID controllers. The detailed comparison of two schemes is given. Simulation results show that the double parallel PID controllers can not only realize better position and speed tracking control of inverted pendulum, but also have better robustness than the double series PID controllers.