Rotary Inverted Pendulum

Description of control challenge

The control aim is to stabilise pendulum link at upper unstable position and:

  • - to stabilise rotary arm at zero position

  • - to track the step signal by the rotary arm

  • - to track continuous trajectory by the rotary arm

As an experimental plarform, the rotary inverted pendulum QUBE-Servo-2 is selected (see Quanser webpage)

How to make experiment