Abstract

   This paper describes the design and implementation of an inverted pendulum swinging in a circular trajectory. The system was designed for use in research and education engineering where many variations can be studied as control algorithms and digital signal processing. The evaluation is based on-board microcontroller family DsPIC33 specialized to implement DSP algorithms and motor control. Transmission position of pendulum to microsystem is realized by a magnetic rotary encoders. Controlling the position of the pendulum is achieved with a DC motor which is controlled by known PID algorithm trough a PWM signal.