Inverted Pendulum PI

This was a 4th semester project for Control class in which we made a Poportinal - integral control for a pendulum. This, we made it with Operational amplifiers (OPAMPs). The construction was very basic, we used a non-functional printer so we just adapted a potentiometer to the ink car and put a stick to it. The limitations were that the printer rail was to short so if the pendulum was very hard hitten it would not give enough chance to control the pendulum. Because of the limitations of the motor as well we coulnt increment the gains so the response was faster.