Design a control system to swing up and balance an inverted pendulum using a rotary motion arm.
A DC motor rotates a stiff 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 is suspended at the joint.
Design a controller that swings up the pendulum and maintains it upright and maintains the arm position. The system is supplied with a dual mode nonlinear controller. You may design any other controller you wish.
Undergraduate – first course, second course
2DOF Inverted Pendulum
2DOF Robot Balancer
Ball and Beam
Double Inverted Pendulum
Gyro / Stable Platform
Multi DOF Torsion
Position Servo (SRV02)
Rotary IP – Inverted Pendulum