PID控制器
The overall task consists of two parts: recording the angle over time and reproducing the recorded motion. The reproducing step is surprisingly simple. As an input we know, in which time step which angle the pendulum must have. Bringing the system to a state is called “Tracking control” or [[PID controller#PID controller theory|PID control]]. That means, we have a trajectory over time, and must find control actions to map the system to this trajectory. Other authors call the principle “steering behavior”, because the aim is to bring a robot to a given line.