Reaction Wheel Pendulum - Swing Up and PID capturing using Webcam Arduino and Simulink 4of4

Modified hardware to solve the motor power cable winding upon shaft. A split aluminium shaft was used such that each half shaft was connected to the poles of the H-bridge. The PWM signal was corrupted with noise since the ball bearings and shaft were being used instead of the cable. To solve the noise problem brushes in parallel to the bearings were used which in turn introduced some friction. All in all satisfactory response ewas still achieved. The swing up algorithm used a PID in feedforward to control the energy, and when the angle came to within 0.2 radians of the vertical another PID loop cpntrolled the anngle of the pendulum See also http://www.youtube.com/watch?v=09JFUtREIro and http://www.youtube.com/user/controleeei#g/c/F16D46CB5319D172