Linear Flexible Inverted Pendulum

Electromechanical Control

The Linear Flexible Inverted Pendulum module augments the classic inverted pendulum challenge by including a flexible link that requires balancing. The Linear Flexible Inverted Pendulum module attaches to the Linear Servo Base Unit and has both a rigid long rod and a flexible link. The goal is to balance both pendulums using the base angle measurement as well the deflection angle of the flexible link.

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The linear flexible inverted pendulum challenges students to gain advanced modeling and control experience by controlling both the damping of a flexible link, and an unstable inverted pendulum.

High-resolution optical encoders to sense pendulum angles
Strain gage to measure flexible pendulum deflection
24-inch rigid blue pendulum and flexible link with end-weight
Easy-connect cables and connectors
Fully compatible with MATLAB®/Simulink® and LabVIEW™

Modeling Topics

Derivation of dynamic model using Lagrange
State-space representation
Linearization

Control Topics

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 Q2-USB
- 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 Quanser Q1-cRIO
- NI myRIO with Quanser Terminal Board
- Quanser Q2-USB
- Quanser Q8-USB
- Quanser QPIDe