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Real-time PID Control of an inverted pendulum - 2

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Published on Jun 18, 2012

This is a project we have developed for an Embedded Systems class at University of Pisa, Italy.

The project was developed using a FLEX motion board (from Evidence s.r.l) running an RTOS called Erika.

There are certainly more impressive demonstration out there about the control of inverted pendulums: however our plant had lot of mechanical issues, and this was the best result we was able to achieve in the short amount of time we dedicated to this project :-)

Details:
The position of the bar is acquired through a potentiometer, while the cart position is obtained from the motor's encoder.
We are using two PID controllers: the first one tries to stabilize the bar in a vertical position, the second one tries to keep the cart in the center of the rail.

More details on my website: http://studenti.ing.unipi.it/~s425690/
http://www.slideshare.net/FrancescoCo...

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