Inverse pendelum experiments

This repository contains several stuff related to experiements with inverse pendulums.

Experiment steps

1. take an old DIN A3 Printer

2. get rid of unneccessary stuff

3. carefully unmount the motor and test it

4. study the circuit on the pcb

5. Read the sensor signal with an arduino

Software

• Arduino
• Gnoduino
• gEDA
• Inkscape
• scilab
• Maxima
• wxMaxima

Papers

• Diploma Thesis, Berger, 2004
• http://www.cs.hs-rm.de/~linn/vpdv05/jopp_et_al/doku_pendel.pdf

Videos

• hp printer part 1, part 2

Links

Speed Controller

• http://www.bhabbott.net.nz/bridge.html
• http://www.cp-elektronik.de/index.php/elektronischer-fahrtregler-mit-umpolung/63-fahrtregler-mit-umpolung
• http://www.arduino-tutorial.de/2010/06/motorsteuerung-mit-einer-mos-fet-brucke/

Control Theory

• http://www.rn-wissen.de/index.php/Regelungstechnik
• https://de.wikipedia.org/wiki/Regler