Subscribe Unsubscribe
Name (required)
Email (required)
Company (required)

 Subscribe Unsubscribe
Name (required)
Email (required)
Company (required)

2DOF Inverted Pendulum

2DOF Inverted Pendulum


Balance a 2 DOF inverted pendulum upright.

A long pendulum rod is attached to an instrumented 2 joint gimbal. The pendulum is free to fall in two directions. The joint angles are measured using sensors. The mechanism is attached to the tip of the 2DOF robot.

Design a controller that maintains the pendulum upright using the two servo motors. The system is supplied with a state feedback controller. You may design any other controller you wish.

Undergraduate – second course / Graduate / Project / Research

Rotary Product Range

  • 2DOF-ballBalance

    2DOF Ball Balancer

  • 2DOF-inverted

    2DOF Inverted Pendulum

  • 2DOF-robot

    2DOF Robot

  • Rotary-ball-beam-exp

    Ball and Beam

  • dlb-invert-pend

    Double Inverted Pendulum

  • flex-link

    Flexible Link

  • gyro-stable

    Gyro / Stable Platform

  • inverted-pend

    Inverted Pendulum

  • multi-DOF

    Multi DOF Torsion

  • srvo

    Position Servo (SRV02)

  • QET DC Motor Control - USB Board Installed

    QET DC Motor Trainer

  • QUBE Servo


Windows Media Low (1.6 Mb) High (3.3 Mb)
QuickTime Low (2.7 Mb) High (4.7 Mb)

iMath Asia
i-Math was incorporated in 2001 as an organization dedicated to delivering innovative high precision mathematical and control software solutions to the Educational, R&D, Engineering and Manufacturing industries in the ASEAN Region.

We offer unique and pioneeing 'state of the art' hardware and software solutions for business and educational needs.
Singapore's Office
i-Math Pte Ltd (HQ)
10 Ubi Crescent, #06-37, Ubi TechPark, Lobby C
Singapore 408564

Tel: (65) 6742 1250
Fax: (65) 6742 1440

Malaysia's Office
i-Math Sdn Bhd (686949-w)
A1-3A-49, Block A1, Leisure Commerce Square, No. 9, Jalan PJS 8/9, 46150, Petaling Jaya, Selangor, MALAYSIA

Tel: +603-78757222
Fax: +603-78757227