Rating is available when the video has been rented.
This feature is not available right now. Please try again later.
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.