How to Tune a PID Controller for an Inverted Pendulum

Learn how to manually tune a PID controller for an inverted pendulum system in this 25-minute tutorial video. Explore the STEVAL-EDUKIT01 kit from STMicroelectronics, which includes an Arduino, encoder, and stepper motor to create a feedback loop. Discover how to design a controller in code that can make a rod stand upright without human intervention. Dive into the process of setting up Arduino code to measure encoder values and drive the stepper motor, while using Python on a PC for communication and as the PID controller. Follow along as the video demonstrates the step-by-step process of tuning Kp, Ki, and Kd parameters to achieve a critically damped system. Gain insights into the applications of PID controllers in automotive and industrial settings, and access related resources for further learning about control theory and PID implementation.

- Introduction to the Inverted Pendulum
- What is a PID Controller
- How to Tune a PID Controller
- Arduino Code to Measure Encoder and Drive Stepper Motor
- Python Code on PC Used to Communicate with Arduino
- Python Code Used as PID Controller
- Where to Find Code
- Tune Kd in the PID Controller
- Tune Ki in the PID Controller
- Tune Kd in the PID Controller
- Tune Bias Term in the PID Controller
- Conclusion