How to program an nxt segway program4/12/2023 ![]() The quality of the sensors, control algorithms and actuators all influence if, and how well, we can control a given physical object.įor the inverted pendulum, there are many possible ways of sensing the angle many control algorithms that can stabilize the pendulum and many ways of generating the appropriate torque. ![]() ![]() This sensing-computing-actuating chain of operations, illustrated in the figure below, can be found in all control systems. Generating, or actuating, the required torque Measuring, or sensing, the angle and the angular rate. This balancing act requires three essential steps Our analysis so far has revealed a very simple way of controlling the inverted pendulum to balance around its upright equilibrium: we should simply generate a force which is proportional to the angular deviation and rate of deviation
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