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The objective here is to implement the discrete PID on pendulum. The idea is to balance an Inverted pendulum electro-mechanically using Proportional Integral Differential (PID) Control. The heart of the system is a PIC micro-controller (PIC18F4520). Controller commands the motor through PWM signal, which drives the cart to balance the pendulum in an inverted position. Pendulum's angular position is...
This paper shows a data converter based on a self oscillating pulse width modulator. The output data is recovered form the PWM signal using a digital replica of the PWM loop filter and a data driven asynchronous sampler. A cubic spline interpolator is used to accomplish the irregular to uniform sampling conversion at the output of the data converter. This architecture is specially suited for low voltage...
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