How to tune two PID controllers that is series connected for Furuta pendulum

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CyberRobotics
CyberRobotics 2025-2-3
评论： Sam Chak 2025-2-3
Hi
I am trying to tune two tune two PID controlers series for the Furuta pendulum or rotatry inverted pendulum any suggestions ?
Is it possible to do automatic?
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Sam Chak
Sam Chak 2025-2-3
I am unable to provide guidance without the requested information.
However, as a starting point, you can certainly follow @Mathieu NOE's advice to begin by tuning the PID controller in the inner loop. Once that is completed, you may proceed to tune the 2nd PID controller in the outer loop, assuming that you believe your single-input state-space model is correct, which differs from the two-input model presented on the Wikipedia page for the Furuta Pendulum.

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