PHYSICAL SYSTEM: INVERTED PENDULUM ON CART
● STABLE
DRAG CART OR PENDULUM TO DISTURB SYSTEM DIRECTLY
TRANSIENT OSCILLOSCOPE
▬ Setpoint
▬ Process Var (PV)
▬ Control Output
PHASE PORTRAIT
Velocity vs Error
Mode Selection
PID Tuner
Proportional Gain (Kp)
4.50
Integral Gain (Ki)
0.05
Derivative Gain (Kd)
1.20
Physical Constraints
Sensor Latency / Delay
20 ms
Actuator Limit (±Max)
10.0
Anti-Windup Clamp
Calculated Stability Metrics
Rise Time (tr)
0.42s
Peak Overshoot
4.2%
Settling Time (ts)
1.15s
Steady-State Err
0.001