PID Controller block does not assume anything about the setpoint value, it operates on the error signal which is the difference between the setpoint and measured output.
If you want to control your pendulum around some non-zero angle, you do not need 2DOF PID. All you have to do is have a block for your setpoint (constant, for example). Set the value of this constant as you wish. Then substract measured angle to form the error signal, and feed this error signal to the PID Controller.
Take a look at this demo to see how to do this in a Simulink model. HTH.
Arkadiy
Best Answer