An interactive demonstration of an inverted pendulum stabilized in 3D space using reaction wheels and a PID controller.
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A stick pivoted at the bottom is inherently unstable. Gravity acts on its center of mass, pulling it down. Even a fraction of a degree tilt causes acceleration.
Exploiting Newton's Third Law. Accelerating a heavy wheel with a motor applies an equal and opposite torque (reaction force) to the stick, counteracting gravity.
An IMU (MPU6050) measures the exact angle. The PID algorithm calculates the precise motor speed needed to correct the error smoothly without overshooting.
Explore the hardware layout. The animated particles represent power and signal flow.