How to control the cart position in inverted pendulum using PID controller?

http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=ControlPID

I am following the above instructions as you can see at the bottom it is mentioned the cart moves negative direction with approximately constant velocity. I would like to move the cart in both directions to balance the pendulum. Please advise.

Answer 1

[Arkadiy Turevskiy]

To control both the position and the angle, you would need to set up a little bit more involved controller architecture. Take a look at this example that shows one way of doing that and tuning the controller.