---
title: "Discussion on \"Building a Furuta Pendulum - Part 4: Firmware, PD Control, and Log-Based Nonlinear Tuning\" | Hashnode"
description: "Discussion on \"Building a Furuta Pendulum - Part 4: Firmware, PD Control, and Log-Based Nonlinear Tuning\". In Part 3, I covered the hardware build and the diagnostic tests that made the setup trustworthy enough to control.\nThis post is about the actual firmware and controller iteration.\nWe started with lin"
url: "https://hashnode.com/posts/building-a-furuta-pendulum-part-4/6a1a90e32365cdee7fbef3ca"
---

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# [Building a Furuta Pendulum - Part 4: Firmware, PD Control, and Log-Based Nonlinear Tuning](https://vishwaksen.hashnode.dev/building-a-furuta-pendulum-part-4?utm_source=hashnode&utm_medium=feed)

In Part 3, I covered the hardware build and the diagnostic tests that made the setup trustworthy enough to control. This post is about the actual firmware and controller iteration. We started with lin

May 30 · 12 min read · vishwaksen.hashnode.dev  
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-   [#robotics](https://hashnode.com/tag/robotics)
-   [#firmware-development](https://hashnode.com/tag/firmware-development)
-   [#control-systems](https://hashnode.com/tag/control-systems)
-   [#micropython](https://hashnode.com/tag/micropython)
-   [#embedded-systems](https://hashnode.com/tag/embedded-systems)

## Written by

[Vishwaksen Reddy Dhareddy](https://hashnode.com/@vishwaksen-1)

@vishwaksen-1 · Hyderabad, India

  
[View profile](https://hashnode.com/@vishwaksen-1)

the architecture of “almost”

I think I am funny

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