Newtonian Dynamics Approach for Single Inverted Pendulum System with Control Method Comparison

This study employs Newtonian dynamics methodology to establish a mathematical model of a single inverted pendulum system, followed by comparative simulation analysis of PID control (based on classical control theory), LQR control (based on optimal control theory), and fuzzy logic control methods. The simulation implementation includes system linearization techniques, state-space formulations for LQR design, and membership function configuration for fuzzy controllers. The analytical results provide theoretical guidance for research in this field, with practical insights into controller tuning parameters and stability margin comparisons.