Furuta self-balancing pendulum
PID-stabilized inverted pendulum on Arduino
The Furuta pendulum is a rotary-arm inverted pendulum — the canonical “balance an unstable system from sensor feedback” control problem. Built August to December 2019.
I designed and implemented the full system: Arduino-based microcontroller firmware, rotary encoders for joint-position feedback, a PWM-driven DC motor for the actuated horizontal arm, and PID gains tuned to keep the upright pendulum stable against disturbance.