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.

Click here to view the Demonstration Video


  • Double pendulum comprised of a 7-inch aluminum link connected to a 12-inch link
  • Double Inverted Pendulum module easily attaches to the Rotary Servo Base Unit
  • High resolution encoders sense rotary arm and pendulum link angles
  • Easy-connect cables and connectors
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEWTM and Maple™
  • Open architecture design, allowing users to design their own controller

Curriculum Topics Provided

Topics included in the Quanser-developed courseware:

Modeling Topics

  • Lagrange derivation
  • State-space representation
  • Linearization

Control Topic

  • Linear-quadratic regulator

The Double Inverted Pendulum module can be also used to teach other topics that are not included in the Quanser-developed courseware.

The Next Steps

What do our Customers say about us?

“I am very satisfied with Origin. I think Origin is an excellent plotting tool. Its capabilities are vast, diverse, and beyond my needs. I appreciate the fact that almost anything on a plot can be adjusted according to a desired preference.”

Matthew D. Sena - Sandia National Laboratories

We are at a loss to know how to express our admiration….outstandingly good in respects of all aspects of what is on offer from Adept Scientific.

EW Billington, Wentworth, Cambs, UK

I had just upgraded to Windows 7, and after having Mathcad for several years I found that I could not complete the final stages of installation. After reading help files I finished up confused and really helpless, until I contacted you. THANK YOU.

JD, Dorset, UK

Huge amount learnt, much more than I expected. Appreciate the ability of the programme much more than I did before.

PA, Liverpool, UK

For the time being we are unable to offer the following product ranges although we are currently working hard to increase the number of products we can offer in the future. Please contact us to talk about alternative products that we may be able to offer you.