Hi. I’m trying to stabilize a model for this articol: https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Research_DAndrea/Cubli/Cubli_IROS2012.pdf , with a PID controller, and it’s not working. I don’t even know that this is the corect order of the cascade PID. I even try to take each individual part of the cascade PID and simulate it and use the tuner for that. And still it doesn’t working. Does anyone know what to do?
This is the cascade PID:

This is the attempt to try to take individual part of the cascade and simulate:

This is the Control System tuner:Hi. I’m trying to stabilize a model for this articol: https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Research_DAndrea/Cubli/Cubli_IROS2012.pdf , with a PID controller, and it’s not working. I don’t even know that this is the corect order of the cascade PID. I even try to take each individual part of the cascade PID and simulate it and use the tuner for that. And still it doesn’t working. Does anyone know what to do?
This is the cascade PID:

This is the attempt to try to take individual part of the cascade and simulate:

This is the Control System tuner: Hi. I’m trying to stabilize a model for this articol: https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Research_DAndrea/Cubli/Cubli_IROS2012.pdf , with a PID controller, and it’s not working. I don’t even know that this is the corect order of the cascade PID. I even try to take each individual part of the cascade PID and simulate it and use the tuner for that. And still it doesn’t working. Does anyone know what to do?
This is the cascade PID:

This is the attempt to try to take individual part of the cascade and simulate:

This is the Control System tuner: control, simulink, equation, model MATLAB Answers — New Questions

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