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Hi,
I=B4ve made an inverted pendulum, following AN964.

The actual diagram to control the pendulum to make it states still, is as
follows

             .---------.
             | Disturb o----.
             '---------'    |
                            |
            .----------.    |    .-------.
Angle .-.   |          |   .-.   |       |     Angle
SP---( X )--o   PID    o--( X )--o MOTOR o-o-- Corrected
      '|'   |          |   '-'   |Process| |
       |    '----------'         '-------' |
       |                                   |
       |                .-------.          |
       |                | Sensor|          |
       '----------------o Signalo----------'
                        | Adapt |
                        '-------'
I want to built a second PID to control the arm (see invpen.gif). I think=
 a
nested loop is needed but I can't guess where.

If the whole diagram above is considered a single block with a single inp=
ut,
may be, it can be inserted, in another control in this form like:

                        .---------.
                        | P.AnglSPo--.
                        '---------'  |
             .---------.             |
             | Disturb o----.        |
             '---------'    |        |
                            |        |
            .----------.    |    .-------.     PendAngle &
ARM   .-.   |          |   .-.   | MOTOR |     ARMAngle
SP---( X )--o   PID    o--( X )--o & Pendo-o-- Corrected
      '|'   |          |   '-'   | CTRL  | |
       |    '----------'         '-------' |
       |                                   |
       |                .-------.          |
       |                | Sensor|          |
       '----------------o ARM   o----------'
                        | Adapt |
                        '-------'
or this:
     .-------------------.
     | Pend.AnglSetPoint.o--.
     '-------------------'  |
                            |
            .----------.    |    .-------.     PendAngle &
ARM   .-.   |          |   .-.   | MOTOR |     ARMAngle
SP---( X )--o   PID    o--( X )--o & Pendo-o-- Corrected
      '|'   |          |   '-'   | CTRL  | |
       |    '----------'    |    '-------' |
       |      Pend feedback '---------'    |
       |                .-------.          |
       |                | Sensor|          |
       '----------------o ARM   o----------'
                        | Adapt |
                        '-------'



Well, I have a little movie in mpeg format to show how is working now, bu=
t I
didn't uploaded yet.

Any help in general concepts are welcome. If there are a matlab or simuli=
nk
explanation, that would be better!.

The actual controller is based in a 16F873.

Best Regards,
Dennis Crawley
Argentina




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