We integrate these four blocks into a single DSP chip to generate control commands, in order to drive DC motor and keep balance of the inverted pendulum on the inverted pendulum car.

• 我们将这些模组整合在一DSP单晶片上，并以此产生控制命令，去推动直流马达驱动电路，使得倒单摆车上的倒单摆能维持平衡。