Rotary Double Inverted Pendulum
Take the Classic Inverted Pendulum Challenge to the Next Level
The Rotary Double Inverted Pendulum module is ideal to introduce intermediate and advanced control concepts, taking the classic single inverted pendulum challenge to the next level of complexity. You can use it to demonstrate real-world control challenges related, for example, to takeoff stabilization of a multi-stage rocket. The Rotary Double Inverted Pendulum module attaches to the Rotary Servo Base Unit. Using this experiment, students learn to:
- obtain a state-space representation of the open-loop system
- design a state-feedback gain for the closed-loop system using LQR optimization
- simulate the system and ensure it is stabilized using the designed state-feedback control
- implement the state-feedback controller and evaluate the system performance
In addition to teaching advanced control concepts, the Rotary Double Inverted Pendulum can be used for research in various areas, including nonlinear control and optimal control.
How It Works
The Double Inverted Pendulum module is composed of a rotary arm that attaches to the Rotary Servo Base Unit, a short 7-inch bottom blue rod, an encoder hinge, and the top 12-inch blue rod. The balance control computes a voltage based on the angle measurements from the encoders. This control voltage signal is amplified and applied to the Servo motor. The rotary arm moves accordingly to balance the two links and the process repeats itself.
Quanser-developed Courseware Included
The Double Inverted Pendulum module comes with Quanser-developed courseware. The comprehensive Laboratory Guide, accompanied with quick start resources, User Manual, pre-designed controllers and system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.
The Next Steps
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