Inverted Flywheel Pendulum 1

State-space controller using full-order predictive observer to control inverted flywheel pendulum actuated by a DC motor. The "flywheel" in this case is just the motor armature. The sensing through an optical encoder mounted on the pendulum shaft. State estimation and control takes place on an Arduino Mega. The control period is 1 ms. The control action is a desired motor voltage, which is applied via PWM through a Pololu item #2995.

Видео Inverted Flywheel Pendulum 1 канала thehandoftheking