at Thayer School of Engineering
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