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Software PID Control of an Inverted Pendulum Using the PIC16F684

From Microchip Technology, Inc.

The purpose of this application note is to describe how a PIC16F684 can be used to implement a positional Proportional-Integral-Derivative (PID) feedback control in an inherently unstable system. An inverted pendulum is used to demonstrate this type of control. The inverted pendulum consists of three main parts: the base platform, the pendulum and the controller board. The base platform is a 3-point platform, 2 wheels (one of which is geared and attached to a DC motor) and an audio jack. When the DC motor is turned on, the base platform will rotate around in a circle with the center of the axis of rotation being the audio jack. The audio jack serves 2 purposes; first it is used as the axis of rotation for the base platform and second, it is used to bring commutated power to the controller board.
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