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Linear Double Inverted Pendulum
Take the classic linear control problem to the next level
Electromechanical Control
Designing a controller that balances two links adds an extra challenge when compared to the single inverted pendulum system. The additional challenge of a second pendulum can be used to demonstrate advanced controls concepts, or as a basis for research.
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Product Details
The double inverted pendulum represents a complex challenge with real-world applications that include stabilizing the takeoff of a multi-stage rocket and modeling the human posture system.
| Mass of linear double pendulum assembly | 0.364 kg |
| Medium pendulum mass (with T-fitting) | 0.127 kg |
| Medium pendulum length (pivot to tip) | 33.65 cm |
| Short pendulum mass (with T-fitting) | 0.097 kg |
| Short pendulum length (pivot to tip) | 20.0 cm |
| Mass of encoder hinge | 0.141 kg |
| Pendulum encoder resolution (in quadrature) | 4096 counts/rev |
Modeling Topics
- Derivation of dynamic model using Lagrange
- State-space representation
- Linearization
Control Topic
- Linear-quadratic regulator (LQR)
The following additional components are required to complete your workstation, and are sold separately:
For Simulink
- QUARC® add-on for MATLAB®/Simulink®
- Linear Servo Base Unit
- Quanser VoltPAQ-X1 linear voltage amplifier
- One of the following DAQ devices:
- Quanser Q8-USB
- Quanser QPIDe
For LabVIEW
- Quanser Rapid Control Prototyping (Q-RCP) Toolkit® add-on for NI LabVIEW™
- Linear Servo Base Unit
- Quanser VoltPAQ-X1 linear voltage amplifier
- One of the following DAQ devices:
- NI CompactRIO with two Quanser Q1-cRIO modules
- Quanser Q8-USB
- Quanser QPIDe
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