Double Inverted Pendulum on the Cart

Brief Description
In this experiment, a double pendulum is attached to a cart that is powered by a DC motor. The cart moves on a rectilinear track. The inverted position of the double pendulum is inherently unstable in the absence of control. A control law for cart motion is to be designed to stabilize the double pendulum in the inverted position.

Usage
Design projects in graduate controls-oriented courses and graduate student research.

Past Experience
In previous years, students have designed and implemented simple LQR and pole-placement controllers. The setup has also been used as a two-link gantry.

Future Plans
Nonlinear control.

Supplier
Quanser Consulting Inc.