head of the inverted pendulum

Inverted Pendulum

head of the inverted pendulum

Inverted Pendulum

Simulink Rapid Prototyping based inverted pendulum running on a microstick II dsPIC board. The embedded IMU data fusion algorithm use the ICM-20608 inertial sensor to estimate the angle. LQR control loop drives two DC motors of the modified toy. No encoder sensor are present.

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