Abstract—Abstract The inverted pendulum problem is one of the most important problems in control theory and has been studied excessively in control literatures. When a control system have more than two PID controllers, the adjustment of PID parameters is not an easy problem. In this paper, PID controllers are applied to the stabilization and tracking control of three types of inverted pendulum. The way how to design the PID controllers is given step by step in this paper. Simulation results prove that the way to design of PID controllers is very simple and effective. The system design not only can realize stabilization and tracking control of three
types of inverted pendulum, but also have robustness to outer large and fast disturbances.