- The purpose of this project is to improve the steady state stability of a pencil balancing system. The first phase of this project involves modeling and implementing of aninverted pendulum system. Aim is to provide a stable control loop to keep a pen inunstable equilibrium, including human pen positioning at startup. Complete anal-ysis of mechanical system is provided through linearized model on operating point,using Matlab Simulink. Our control loop is closed through DVS cameras, providingangle (slope of the captured line) and base position of the moving object. Differenttypes of controllers (from simple PID to self-adaptive controllers and Fuzzy) havebeen analyzed in detail. In order to reduce the extra motion of the cup and makethe system more stable we implemented a low pass filter on the servomotors inputs. This filter can be manually in the configuration panel ajusted. Another point to bediscussed is the startup conditions. The humain slow perception makes it hard towork with aThe purpose of this project is to improve the steady state stability of a pencil balancing system. The first phase of this project involves modeling and implementing of aninverted pendulum system. Aim is to provide a stable control loop to keep a pen inunstable equilibrium, including human pen positioning at startup. Complete anal-ysis of mechanical system is provided through linearized model on operating point,using Matlab Simulink. Our control loop is closed through DVS cameras, providingangle (slope of the captured line) and base position of the moving object. Differenttypes of controllers (from simple PID to self-adaptive controllers and Fuzzy) havebeen analyzed in detail. In order to reduce the extra motion of the cup and makethe system more stable we implemented a low pass filter on the servomotors inputs. This filter can be manually in the configuration panel ajusted. Another point to bediscussed is the startup conditions. The humain slow perception makes it hard towork with a system, which moves with a higher frequency than ours. By means ofthe implemented low pass filter during this project it is much easier to stablize thepencil.…