Разработка балансирующего робота

Abstract

The given work is devoted to control theory, holding a variable (in this case, the position of the robot) requires a special controller called the PID (proportional integral derivative). Each of these parameters has a “gain”, commonly called Kp, Ki, and Kd. The PID provides a correction between the desired value (or input) and the actual value (or output). The difference between input and output is called an “error”.