Control Theory:
Inverted Pendulum

at Thayer School of Engineering

Spring 2019

An inverted pendulum is in an unstable equilibrium, which is a system well suited for PID (proportional/integral/differential) control. A PID control circuit was built to control the acceleration of a small car in order to balance a stick mounted on a pivot, the pendulum.

The PID circuit was built out of op-amps and discrete components, with an input voltage from a angular position sensor for the stick and an output of a voltage to the motor.

The report for the project can be found below. 

Inverted Pendulum Report