2-DOF Rotary Inverted Pendulum
Brief Description
In this experiment, two DC motors drive a four-bar link. A 2-D pendulum is attached to the four-bar link as shown in the picture below. The 2-D pendulum is maintained in the vertical-upright position by a controlled motion of the four-bar linkage. The system can also be used as:
- a 2-D robot,
- a 2-D gantry, and
- a 2-D plotter.
Usage
Design projects in graduate controls-oriented courses and graduate student research.
Past Experience
In previous years, students have designed and implemented simple LQR-based, linear, digital controller for stabilization.
Future Plans
Develop full nonlinear system dynamics using Lagrange’s method and design and implement nonlinear controllers (e.g., feedback linearization, passivity, etc.).
Supplier
Quanser Consulting Inc.
