Balancing a Rotary Inverted Pendulum

Rotational Pendulum Stabilization in the upright position via linear full state feedback.

The plant consists of a vertically-mounted brushed DC motor rigidly coupled to the main arm, which can rotate in the horizontal plane. A freely rotating pendulum is attached through the main arm and is constrained to rotate in a plane normal to the main arm axis. This is an example of an underactuated and highly-nonlinear mechanical system.

An Infineon 167CR microcontroller based development board is used as the digital control platform and a custom four-quadrant switch-mode motor drive was designed to drive the DC motor.

Many thanks to John Coward for the precision machined parts.

Category:

Science & Technology

Tags:

• Inverted
• Pendulum
• Rotary
• Full
• State
• Feedback
• Nonlinear
• Underactuated

[mansimran100]

Can u plzzz tell me what is the motor configuration. I am basically interested in knowing rpm and torque of the motor you used .......any information on bandwidth also ???

[gzbpanick]

what would be if you would change the mass of the ball at the end? Or if you would change the length of pendulum?

[okayillgonow]

@rickky67891: You've never heard of or seen an inverted pendulum?

[linkmaster112233]

very cool

[rickky67891]

This is clearly fake... it's all done with magnets.. Seriously though that is really cool, what do you use to feedback to the pendulum motor?

[arixrobotics]

wow very impressive!