This study provides a comprehensive comparison of two popular control strategies: the well-known proportional-integral-derivative controller (PID) and the linear-quadratic regulator (LQR). Both strategies are applied to two types of inverted pendulum systems: the linear single inverted pendulum and the linear double inverted pendulum. The PID and LQR controllers were simulated in MATLAB for the linear single inverted pendulum. Both strategies were used for real-time control of a double inverted pendulum; an experimental setup built by Quanser. The comparative results and control performance study are discussed in the report. Future work and recommendations are also provided.