** WEEK 01 **

 I'm still waiting for all the parts that were ordered online . So i used this week to finish all the theoretical derivation and to study more about how the system works.
 I will already post what i finish on the [[pneumatic_ip_tutorial|tutorial page.]]
  *Overview : how the system works.
  *Transfer Function Derivation .
  *Control Method (PD).
  *Estimating Gains Using LQR.

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** WEEK 02 **

  *Started to sketch the assembly when all the parts got in the lab.I had some trouble in what to use for the pendulum ( the pendulum from the original project was not on the lab). Once i got the pendulum ( 1/2in steel bar ) i had to figure out a way to fix the bar into the rotational encoder ( i'm waiting a friend print a support on a 3d printer for me ). 
  *Started to build the circuit.

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** WEEK 03 **

  *Assembled the model on the wood
  *Tested the encoders connection with the arduino and the readings.
  *Tested the DAC and the Arduino Connection - digital input have to give the exact desired voltage output at the operational amplifier. 
  *Started to post the tutorial steps.

** PROBLEMS ON WEEK 3 **

**Fixing the rotational encoder on the cart:** I'm having trouble in how to fix the rotational encoder into the cart (I'm using the cart from the original project , but the rotational encoder that came in the same box of the other parts is not the same from the tutorial ( I have the s5 sensor , with bearing (it does not fit on the hole of the cart ).

**Voltage output at the proportional valve:** I'm having trouble on the voltage output.Even if i change the digital value on the arduino code , the voltage at the proportional valve still at 8,4 V (it is expected the voltage to change from 0 to 10V when changing the digital input value at the arduino code). I rebuilt the circuit changing the operational AMP , DAC and all the resistances, but i still having trouble in controlling the voltage output to the proportional valve. I'm using the same Arduino code from the original project , and the DAC is the same also (so the problem is not the DAC connection with the arduino). The problem can be the decimal to binary function on the code , that i'm trying to re-write.

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** NEXT STEPS **

To finish all the building:

  *Fix the voltage at the proportional valve problem.
  *Figure out a way to fix the sensor into the original cart.

And after:

  *Adjust the gains on the arduino code until the balance is good enough


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** WEEK 04 **

  *The problem of the voltage at the proportional valve was solved.

{{youtube>3e65Pi_bIb4?medium}}
  *The connector that i printed broke and i will print another one.

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