中文说明：
对单级倒立摆系统的平衡控制问题进行了研究。首先建立了系统的数学模型，然后采用 PID 方法设计控制器，最后对控制系统进行了仿真实验研究。仿真实验结果不仅证明了PID方案对系统平衡控制的有效性，同时也展示了它们的控制品质和特性。
English Description：
The balance control of single-stage inverted pendulum system is studied. Firstly, the mathematical model of the system is established, then the PID method is used to design the controller, and finally the simulation experiment of the control system is carried out. The simulation results not only prove the effectiveness of PID scheme for system balance control, but also show their control quality and characteristics