I know this is a late response, but I wrote an extensive tutorial on PID tuning of a double inverted pendulum in Gazebo during my internship at OSRF:

http://gazebosim.org/tutorials/?tut=ros_control

However, the overlap and transferal between simulation and real-world is entirely dependent on your model fidelity and simulation engine - I doubt it will be very similar.

- dave

On Fri, Oct 9, 2015 at 12:12 PM, Bobby via ros-users <ros-users@lists.ros.org> wrote:

Hello,

Does anyone have any recommendations on the development process for tuning a PID in simulation versus in reality, and what the process might look like in transferral between the two?

The current project is an inverted pendulum, and while I've got the hardware lined out, specs included, I don't want to destroy my equipment trying to tune the PID. If there's a way that I could do this with a simulation, and then migrate the algorithms/tunings over, that would be very helpful in terms of time and expenses.

I do understand though that simulation and realworld aren't 1:1, and so it is with that that I ask if anyone has any good ideas or an established process that works well for this?

Thanks,

Bobby

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