Design a control system that keeps the pendulum balanced and tracks the cart to a commanded position.
A classic inverted pendulum, this experiment features a solid aluminum cart driven by a rack and pinion mechanism using a 6V DC motor, ensuring consistent and continuous traction. The cart slides along a stainless steel shaft using linear bearings. The cart position is measured using a sensor coupled to the rack via an additional pinion. A pendulum mounted on the cart is free to fall along the cart’s axis of motion.
The ability to vary parameters is also available should you wish to change the dynamics of the challenge. The system is supplied with a state feedback controller. The complete mathematical modeling and system parameters are provided to streamline the implementation of the control theory of your choice.
Undergraduate: Well suited to a first or second course in controls
Flexible Joint with Inverted Pendulum
Linear Double Inverted
Linear Flexible Inverted Pendulum
Linear Flexible Joint on Seesaw