Yes, it is impressive that he got it going with PID controllers plus whatever else is in the controller firmware.
This sort of inverted pendulum type system would typically require at least 1/s^2 control. It also has the additional complexity of gyroscopic torques, center of thrust not through center of gravity and servo control lag.
This is similar to controlling a rocket, something the Germans took a long time to perfect with the WW2 V2 missile.
This sort of inverted pendulum type system would typically require at least 1/s^2 control. It also has the additional complexity of gyroscopic torques, center of thrust not through center of gravity and servo control lag.
This is similar to controlling a rocket, something the Germans took a long time to perfect with the WW2 V2 missile.