Tuner Control Dialed In

With the pendulum now correctly sized after a harrowing thermal activity, the tuner is now in range and the control system can be tested. In the plot below three trials were run with the pendulum bob at slightly different heights. In each case the controller found the correct tuner position to compensate and maintain near-zero timing error. The specific control implemented was a Proportional-Derivative (PD) control, moving the tuner based both on the current error as well as the current rate. The second graphic shows how this is performed mathematically.