Data

The set point was measured at four equidistant locations about the circular path of the robotic arm. Data collected from one position is shown below.

The interval between the integer digital reading 453.00 and 454.00 is associated with the integer value 453.

Data collected for the optimal PID constants is presented below. For each trial, the root mean squared of the error over a 30 second interval was compared.

For each trial, the pendulum was initially at rest in the upright position.