中文说明：使用微分方程对一阶倒立摆进行动力学仿真，并使用双路PD控制对其进行控制仿真，因为是使用的微分方程仿真，没有使用线性近似，更接近实际模型
English Description：
The dynamic simulation of the first-order inverted pendulum is carried out by using the differential equation, and the control simulation is carried out by using the two-way PD control, because the differential equation simulation is used, and the linear approximation is not used, which is closer to the actual model