As part of my graduate controls coursework, I designed and implemented control algorithm for classic controls problem of inverted pendulum A combination of LQR and complementary filter is designed and implemented in C to balance the robot Robot maintains upright position and return to home position even when pushed around by disturbances Control and estimation algorithms were simulated in MATLAB and applied in C on hardware:
The eduMIP is an educational Mobile Inverted Pendulum kit developed by Coordinated Robotics Lab at UCSD. It features a BeagleBone with an embedded IMU, a perfect testbed for experimenting control algorithms For documentation and more information, click here