inverted pendulum

[sobia]

hi i have started a project on self balancing of plate mounted inverted pendulum mean a pendulum would be directly attached with the motor shaft through plate or pulley. we have to use a digital pid controller but i dont know how to design a digital pid although i have a bit knowledge of analogue pid and i also wanna know abt any gud book regarding digital pid controller thx in advance

 

[geko]

Try this

https://www.electro-tech-online.com/custompdfs/2009/10/00964A.pdf

 

[sobia]

yep but i need help regarding digital pid algorithm in assembly lang

 

[arhi]

yep but i need help regarding digital pid algorithm in assembly lang

**broken link removed**

https://ww1.microchip.com/downloads/en/AppNotes/INV_PEN_CODE.zip

it has C and ASM code

 

[sobia]

simulation

hi the assembly code u have post regarding inverted pen is difficult to get bec i have read atmel assembly and now studying pic18f so i dont know abt pic16f assmebly instructions, i have also tried to simulate that code in proteus and it is working but it doesn,t send any pulses out of any port pin would u be kind enough to send me the simulation model of that code thanks