This Thesis work concerns the virtual commissioning for the control with PLC of an inverted pendulum pneumatically actuated. In detail, a model of our system within the Simcenter Amesim software was created, which permitted to perform a validation of the code created for the PLC, through the subsequent phases of Model-in-the-Loop, Software-in-the-Loop and Hardware-in-the-Loop. After the review of the scientific literature, the functioning of the inverted pendulum present in our laboratory was described, analyzing studies already done previously on the system. All the steps that led to the construction of the model within the Amesim software were examinated, followed by the programming of the PLC first virtual then real, and by the solutions adopted to put Amesim in communication with other software and hardware components that have allowed the realization of SIL and HIL.