This code was written Fall 2018 for a live demonstration of an inverted pendulum for ME 180: Digital Control of Dynamic Systems at Tufts University
The purpose of is project is to design and tune a PID controller for a SISO inverted pendulum system. Stabilizing an inverted pendulum is a common exercise for digital control engineers as it demonstrates the utility of feedback control systems in stabilizing otherwise unstable systems.
To build the pendulum assembly you will need the following parts:
- Arduino Uno
- Adafruit Motor Shield for Arduino v2
- NEMA 17 Bipolar Stepper Motor
- Timing Pulley
- Timing Belt
- Slide Rail
- Ball Bearing Carriage
- Ball Bearings
- Rotary Encoder
- Shaft Mounting Hub
- 1/4" Steel Shaft (18" length)
- 3D Printed Parts from this project