Challenge:
Design a control system to balance a double inverted pendulum on a linear motion cart .

Description:
A double pendulum mounted on a solid aluminum cart is free to fall along the cart’s axis of motion. A pendulum (approx. 2″ in length) with another joint is mounted to the first joint. A second pendulum is attached to the second joint. Both joint angles are measured using encoders. The cart is 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.

The objective is to design a control system that balances the double pendulum and maintains cart position. The system is supplied with a state feedback controller. You may design any other controller you wish.

Difficulty:
Undergraduate – second course / Project / Graduate / Research

• Linear Product Range
•  Demonstration