Simple Inverted Pendulum with LQR,PID SimMechanics

Hi guys this is my Simple Pendulum model and control using SimMechanics and Control toolbox, later I will include also the SolidWorks files to show how to use SolidWorks link.

Anyone who finds that I should do things in another way please fell free to post any comment and help me :)

This sample was modelled with SimMechanics and control was made with lqr command.

First I've imported the pendulum from solidworks with
mech_import;

>> mgrPend = MECH_STATEVECTORMGR;
>> mgrPend.StateNames

ans =

'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Position'
'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Position'
'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Velocity'
'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Velocity'

>> [A,B,C,D] = linmod('InvertedPendulumModel');

>> eig(A)

ans =

0
0
2.3132
-2.3132

>> open_plant = ss(A,B,C,D);
>> impulse(open_plant);

>> Q = diag([ 0 100 0 100]);
>> K = lqr(A,B,Q,R)

K =

284.3487 -10.0000 126.1560 -23.6582

>> Ac = [(A-B*K)];
>> Bc = [B];
>> Cc = [C];
>> Dc = [D];
>> sys_cl=ss(Ac,Bc,Cc,Dc);
>> T=0:0.01:50;
>> U=0.2*ones(size(T));
>> [Y,T,X]=lsim(sys_cl,U,T);
>> plot(T,Y)