Design a control system to balance an inverted pendulum on top of a seesaw
A double seesaw system (composed of two seesaws rigidly coupled in parallel) freely rotates upon an instrumented fulcrum. A powered cart is mounted on each seesaw and each cart can move along the seesaw’s length without collision. One cart contains an instrumented joint with an inverted pendulum mounted on it. The solid aluminum 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 controller that simultaneously balances the seesaw and pendulum. The system is supplied with a state feedback controller. You may design any other controller you wish.
Undergraduate – second course / Graduate / Project / Research
Flexible Joint with Inverted Pendulum
Linear Double Inverted
Linear Flexible Inverted Pendulum
Linear Flexible Joint on Seesaw
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