Balancing an Inverted Pendulum with Feedback Control (PID)
Keeping an inverted pendulum upright
0:57 · 720p · With AI narration and captions. This sample was made with the same system as this service.
Narration (full text)
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Feedback Control (PID)
Feedback control is how a pole that wants to fall is kept upright by moving the cart under it.
Balancing the Pole
Left alone, the pole falls. A sensor measures its tilt, and the cart moves toward the fall to hold it up.
The Feedback Loop
It measures the error, the gap from the goal, moves to shrink it, and repeats this constantly.
What P, I, and D Do
PID combines P for the current error, I for the built-up error, and D for how fast the error is changing.
Less Swing, No Offset
With P alone, it overshoots and swings. D calms the swinging, and I removes the remaining offset.
Recovering from a Push
With PID moving the cart, even if the pole is pushed and tilts, it quickly returns upright.
Measure, Correct, Repeat
Feedback control holds the target state by measuring the error and correcting it, again and again.
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