Double Inverted Pendulum on the Cart

Brief description:

In this experiment, a double pendulum (see the picture below) is attached to a cart that is powered by a DC motor. The cart moves on a rectilinear track. The inverted position of the double pendulum is inherently unstable in the absence of control. A control law for cart motion is to be designed to stabilize the double pendulum in the inverted position.



Design projects in graduate controls-oriented courses and graduate student research.


Past experience:

In previous years, students have designed and implemented simple LQR and pole-placement controllers. The setup has also been used as a two-link gantry. 


Future Plans: 

Nonlinear control.



Quanser Consulting Inc.