[ros-users] Control - From simulation to real-world

Dave Coleman davetcoleman at gmail.com
Sat Dec 5 19:39:36 UTC 2015

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:

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 at 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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