PID Controller Simualation
A Proportional-Integral-Derivative controller to self balance a ball on a rolling cart. Use arrow keys to control the cart, and disturb the ball.
Try on Web
https://sparshg.github.io/pid-balancer/
Downloads for Desktop
Windows, Mac: https://github.com/sparshg/pid-balancer/releases
(Should work on Linux too, didn't compile)
Implementation Details
Physics for the simulation is implemented according to this paper (excluding the counter-balances and connecting rod)
I used Runge-Kutta method (4th order) to solve the system.
Camera dynamics are implemented with the help of this video