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Linear Double Inverted Pendulum Training System
(MC106.02)
  • Familiarization with different modeling topics
    • Lagrange derivation of dynamic model
    • State-space representation
    • Linearization
  • Demonstrating the linear-quadratic
    • Regulator (LQR) control
  • Linear Double Inverted Pendulum Training System (MC106.02)
  • Hard copy user manual
  • Linear Servo Base Unit (MC106)

Linear double inverted pendulum training system is made to show how real-world applications, such stabilizing a multi-stage rocket’s takeoff and simulating the human posture system, work in practice. A second challenge is added by the training system’s design of a controller that balances two links. Experiments done by trainees themselves seem to be particularly effective for introducing fundamental dynamics and control concepts.

  • The linear double inverted pendulum training system exemplifies how practical applications, such stabilizing the takeoff of a multi-stage rocket and modeling the human posture system, operate in the actual world.
  • The double inverted pendulum module is made up of two aluminum perfectly machined blue rods, one seven inches long and the other twelve.
  • The module fits easily to the front pendulum shaft of the linear servo base unit cart and can rotate 360 degrees.
  • The linear servo pendulum shaft encoder measures the short link angle, while the middle encoder fitted on the Linear Double Inverted Pendulum measures the medium length link.
  • The balancing control calculates a voltage that is applied to the cart motor based on the cart location and pendulum angles.
  • The cart goes back and forth to balance the two pendulums and keep the upright, vertical posture.
  • The linear double inverted pendulum exercise exposes trainees to the same modeling and balance control challenges found in the human posture system.
  • Hands-on experiments appear to be particularly useful for teaching fundamental ideas in dynamics and control.