National Institute of Technology Hamirpur

National Institute of Technology Hamirpur

Department of Electrical Engineering

Running
Controller
PID CONTROLLER v2.0
Simulation Control
⏩Sim speed
2.0×
0.255

> PID active · target θ = 0.000° · tuning via gains below

Simulation Viewscale: 40 px/m
Pendulum Angle
-63.000deg
Cart Position
0.0000m
Control Force
0.00N
CHANNEL 1 · θ(t)
CHANNEL 2 · θ(x)
Phase-space analysis

Energy landscape & trajectory in (θ, θ̇)

Refresh
Hover to inspect · drag to rotate · scroll to zoom · red dot tracks the live state · green plane = E_upright
RK4 integration · sub-stepped · Full nonlinear equations of motiong = 9.81 m/s² · L = 1.0 m · single pole