Double Inverted Pendulum
Challenge:
Design a control system to balance a double inverted pendulum using a rotary motion arm.
Description:
A DC motor rotates an arm at one end in the horizontal plane. The opposite end of the arm is instrumented with a joint whose axis is along the radial direction of the motor. A pendulum (approx. 2″ in length) with another joint is mounted to the first joint. A second pendulum is attached to the second joint.
Design a controller that balances the double inverted pendulum and maintains the arm position. The system is supplied with a state feedback controller. You may design any other controller you wish.
Difficulty:
Undergraduate – second course / Graduate / Project / Research
Rotary Product Range
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http://www.imath-asia.com/assets/index.php/quanser/2dof-inverted-pendulum/
2DOF Inverted Pendulum -
http://www.imath-asia.com/assets/index.php/quanser/2dof-robot/
2DOF Robot -
http://www.imath-asia.com/assets/index.php/quanser/2dof-robot-balancer/
2DOF Robot Balancer -
http://www.imath-asia.com/assets/index.php/quanser/ball-and-beam/
Ball and Beam -
http://www.imath-asia.com/assets/index.php/quanser/double-inverted-pendulum-2/
Double Inverted Pendulum -
http://www.imath-asia.com/assets/index.php/quanser/flexible-link/
Flexible Link -
http://www.imath-asia.com/assets/index.php/quanser/gyro-stable-platform/
Gyro / Stable Platform -
http://www.imath-asia.com/assets/index.php/quanser/inverted-pendulum-2/
Inverted Pendulum -
http://www.imath-asia.com/assets/index.php/quanser/multi-dof-torsion/
Multi DOF Torsion -
http://www.imath-asia.com/assets/index.php/quanser/srv02/
Position Servo (SRV02)
