Inverted Pendulum

A

Ampere

A/D

Analog to Digital

D/A

Digital to Analog

EEPROM

Electrically Erasable Programmable Read-Only Memory

K

Thousand

Max

Maximum

Min

Minimum

RAM

Random Access Memory

q

Pendulum Angle

q'

Pendulum's Angle Rate of Change

V

Volt

DSP

Digital Signal Processing

DSC

Digital Signal Control

RPS

Revolution Per Second

RPM

Revolution Per Minute

DC

Direct Current

PCB

Printed Circuit Board

PM

Permanent Magnet

PT

Personal Transporter

PWM

Pulse Width Modulation

MOSFET

Metal Oxide Semiconductor Field Effect Transistor

BJT

Bipolar Junction Transistor

K t

Motor's torque constant

K e

Motor's electric constant

R m

Motor's internal resistance

Proportional parameter of the PID controller

K I

Integral parameter of the PID controller

K D

Differential parameter of the PID controller

PID

Proportional Integral Differential Controller

P cr

Critical Period

K cr

Critical gain