Description
The inverted pendulum is a classic controls problem. It is an inherintly unstable system. There are a number of challenges that go into to stabilizing and it can lose stability quite quickly. It is also fun to watch.
I have decided to take this project on in a couple stages. First I want to run a few simulations; an uncontrolled model, a model with a PID controller, and a model with and LQR controller. As I'm working through the simulations I will try to work out the best was to build the physical peundulum. I've decided to limit the scope of the problem to a pendulum with a single degree of freedom. There are a few different ways to control the pendulum and I'll probably just go with whatever is on hand. I think the bigger trick will be getting feedback on the pendulum arm position. I have worked with magnetic encoders in the past and I think I will use them in this situation.
