Rotary Motion Challenge: Double Inverted Pendulum

The Challenge:

Design a control system to balance a double inverted pendulum using a rotary motion arm.


A DC motor rotates an arm at one end in the horizontal plane. The opposite end of the arm is instrumented with a joint whose axis is along the radial direction of the motor. A pendulum (approx. 2″ in length) with another joint is mounted to the first joint. A second pendulum is attached to the second joint. Design a controller that balances the double inverted pendulum and maintains the arm position. The system is supplied with a state feedback controller. You may design any other controller you wish.


Undergraduate – second course / Graduate / Project / Research

Click here to view the Demonstration Video
Double Inverted Pendulum

The Next Steps

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