Challenge:
Design a control system that keeps the pendulum
balanced and tracks the cart to a commanded position.
Description:
A classic inverted pendulum, this experiment
features a solid aluminum cart driven by a rack and pinion mechanism
using a 6V DC motor, ensuring consistent and continuous traction.
The cart slides along a stainless steel shaft using linear bearings.
The cart position is measured using a sensor coupled to the rack
via an additional pinion. A pendulum mounted on the cart is free
to fall along the cart's axis of motion.
The ability to vary parameters is also available
should you wish to change the dynamics of the challenge. The system
is supplied with a state feedback controller. The complete mathematical
modeling and system parameters are provided to streamline the implementation
of the control theory of your choice.
Difficulty:
Undergraduate: Well suited to a first or second
course in controls.
