Overview

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

Product Details

Rigid pendulum mass (with T-fitting) 0.230 kg
Rigid pendulum length (pivot to tip) 64.1 cm
Flexible pendulum mass (with T-fitting and weight) 0.458 kg
Flexible pendulum length (pivot to tip) 43.5 cm
Mass of flexible pendulum end weight 0.256 kg
Pendulum shaft encoder resolution (in quadrature) 4096 counts/rev
Strain gage measurement range ± 5 V
Strain gage sensitivity 2.54 cm/V
Flexible link stiffness 2.64 N.m/rad

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