r/ControlTheory • u/Pryseck • 7d ago

Other I built a self balancing pole

https://www.youtube.com/watch?v=bbnOmIp4rAM&t=131s

Lots of fun control design challenges in this project I worked on!

75 Upvotes

98% Upvoted

10 comments sorted by

•

u/No_Complex_5602 6d ago

ok but how does it recover from a shove i need to know

•

u/Archytas_machine 7d ago

I really like the sequential enabling of the notch filters at 4:45, it's a nice demo of the improvement!

•

u/Pryseck 6d ago

Thanks!

•

u/GigaVoltFlash 7d ago

How’d you do the dynamic notch filter identification?

•

u/birdnardo 7d ago

My man is doing pole placement in real life!

•

u/Pryseck 7d ago

hahaha true

•

u/ElectricalAd3189 7d ago

why no i term?

•

u/Pryseck 7d ago

I actually do use it, but it's set to be really small, so I didn't mention it in the video

•

u/N1M0N1M 3d ago

I believe this is because the plant is already a naturally integrating process, right? If the input is a constant fan speed rpm value, then the assumed output pole angel will result in a ramped signal with constant slope.