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Linear Flexible Joint with Inverted Pendulum

Electromechanical Control

The Linear Flexible Joint with Inverted Pendulum is an ideal way to introduce intermediate control concepts related to vibration analysis and resonance, encountered, for example, in linkages and mechanical transmissions. The experiment challenges students to design a state-feedback control system that can balance an inverted pendulum mounted on the linear flexible joint cart, while minimizing the spring deflection.

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Product Details

The Linear Flexible Joint with Inverted Pendulum combines two fundamental control challenges to give students an opportunity to a more advanced modeling and control challenge.

  • High-resolution optical encoders to sense cart position and the pendulum angle
  • Two different pendulum lengths supplied
  • Easy-connect cables and connectors
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™

Modeling Topics
  • Derivation of dynamic model using Lagrange
  • State-space representation
  • Parameter estimation
  • Model validation
Control Topics
  • Linear-quadratic regulator (LQR)
  • Vibration control

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
    • Quanser Q8-USB
    • Quanser QPIDe

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