Hi, I have a very basic conceptual question. I have a system (eg. inverted pendulum) that I want to control. So I need to build a controller. That is clear. If I understand it well, I have minimally two separate options: 1 - use PID regulator/controller 2 - analyze the system, linearize it about a specific point so I create LTI system and based on this design my own closed loop controller. 3 - ? But, when and why should I choose first or second option? What are advantages and disadvantages of each approach? What are other possible solutions? Thank you in advance!