Synthesis technique for control of a CMG Stabilization of an inverted pendulum which does not require repeated code generation

Abstract

The article presents a synthesis technique for controlling the stabilization of a reverse pendulum, which does not require repeated code generation when making changes to the parameters of the control object. The problem of developing a feedback control system for a reverse pendulum controlled by a gyrodine is considered. The main tool for developing a control system is a combination of a real-time control system based on STM32 and an external computer based on ROS.