As part of my Robotics university course we used an Inverted Pendulum rig to learn some control applications/algorithms. For extra marks we had the challenge to swing the pendulum from hanging down to an upright balancing position. Below is my first attempt which still needs a little tweaking to the values to reduce swings [...]]]>

As part of my Robotics university course we used an Inverted Pendulum rig to learn some control applications/algorithms. For extra marks we had the challenge to swing the pendulum from hanging down to an upright balancing position. Below is my first attempt which still needs a little tweaking to the values to reduce swings needed, increase reliability and reduce travel distance of the balancing algorithm but the general idea is there and it manages to get the pendulum up and balancing in a reasonable amount of time.

Due to the project being part of the course I’m unable to release more information about it.