This is my 4th year Design project for my Electrical Engineering degree.

It involves the control of an inverted pendulum using a BeagleBone Black.

The BeagleBone is connected to a Pololu 18v15 simple motor controller and two position encoders.

Reading the position encoders using x4 quadrature encoding gives more pulses per revolution and increases the angular resolution of each encoder.

Encoder	ppr	x4 ppr	deg/pulse
Pendulum Encoder	600	2400	0.15°
Motor Encoder	400	1600	0.23°

Code is available at inverted-pendulum.

Schematics, drawings and CAD files will be available once the project is complete and the design has stabilised.