針對單級倒立擺系統的單輸入雙輸出、強非線性、強耦合的不穩定系統，提出了雙回路PID 控制方案。通過仿真試驗研究了雙回路PID 多種組合控制方案的可行性，并選出最佳方案——雙回路PD-PD 控制方案。通過在實際單級倒立擺裝置上的實時控制試驗證實所提出的控制方案可以實現了對小車位置和擺桿偏角的同時閉環控制。
關鍵詞：PID 控制；倒立擺；實時控制
Abstract: For such a single-input-two-output unstable system with strong nonlinearity and strong coupling, the PID control scheme with two loops is presented. The feasibility of multi-combination of the PID control with two loops is tested by simulation. In them, choose the best control scheme, PD control scheme with two loops, as the real-time control scheme, and tests it on the linear 1-stage inverted Pendulum real-time control system, The result demonstrate that this strategy can realize the position of dolly and the angle of haulm to be close-loop controlling simultaneity.
Keywords: PID control; Inverted pendulum; Real-time control