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manavkataria / invertedpendulum

Summer Project at IIT Bombay
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Control System Design & Implementation #14

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
What features do you plan to implement?
+ PID Controller to keep the pendulum from falling to the ground.

What input do you need?
+ Input: Angle of the Inverted Pendulum
+ Comes in via pot
+ PID Gain values - set by the user.

When do you plan to complete?
+ hopefully in 7days . 

What will be the end-result? A sexy Demo?
+ Yes!! (fingers crossed!) ;)

Original issue reported on code.google.com by manavkataria on 23 Jun 2010 at 5:07

GoogleCodeExporter commented 9 years ago 
Analyzing PID for Inverted Pendulum

+ It seems that a high enough Kp can (always) control an inverted pendulum. 
++ Implications: We need to make sure the motor's performance (and hence the 
effect of Kp) is not damped due to any mechanical issues

+ Using an I controller could double the performance of the controller. 

Attaching: 
+ Matlab Code
+ Output Images x2

Original comment by manavkataria on 23 Jun 2010 at 5:26

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