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inverted pendulum - design of digital PID

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hami007

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inverted pendulum

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
 

i'm doing a similiar project using Xillinx FPGA and rotary encoder as feedback.. how's your result??
 

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    hami007

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