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Quanser |
Double IP
Challenge:
Design a control system to balance a double inverted
pendulum using a rotary motion arm.
Description:
A DC motor rotates an arm at one end in the horizontal
plane. The opposite end of the arm is instrumented with a joint whose
axis is along the radial direction of the motor. A pendulum (approx.
2" in length) with another joint is mounted to the first joint.
A second pendulum is attached to the second joint.
Design a controller that balances the double inverted
pendulum and maintains the arm position. The system is supplied with
a state feedback controller. You may design any other controller you
wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
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