因此，在控制器中，我们会访问模型，并获得所有创建完毕的模型，这样，所有视图所要做的就是输出某些数据。

So in the controller, we are going to be accessing the Model and getting it all set up so all the view has to do is spit out some data.

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我们通过能够读取传感器和转化输出为数据的非常简单的微控制器来学习这些。

We learn about the sensors that do this, and about very simple computers, called microcontrollers, that read sensors and convert their output into data.

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首先，采用PD控制器控制倒立摆，采集倒立摆的输入输出数据；

Firstly, a PD controller is used to stabilize the inverted pendulum, and the inverted pendulum′s input and output are sampled.

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