inverted pendulum - design of digital PID

[hami007]

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

 

[TheBrian]

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