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Qube-Servo 3

The quickest path to practical controls

Control Systems & Dynamics Robotics & Mechatronics Electromechanical Control Manipulator Robotics Mechatronics

The Qube Servo 3 is the fastest and most efficient way to bring modern, hands-on learning experiences into your Control Systems course. The system is equipped with a high-quality direct-drive brushed DC motor, two encoders, an internal data acquisition system, and an amplifier. Connect with USB to a Windows PC using MATLAB Simulink or Python.

Qube Servo 3 is a part of the Control Systems & Dynamics Lab CollectionIntroduction to Controls Teaching Lab.


Product Details

Qube-Servo 3 comes with a quick-connect inertia disk and an inverted pendulum module. You can also design and 3D print your own module to expand the scope of the experiment or create an engaging student project. Take advantage of the comprehensive ABET-aligned course material for MATLAB® Simulink®, or design and validate your own controllers. With additional language support in Python and C/C++, new features include the ability to disable deadband compensation to directly model and control the DC motor.

  • Safe: Built-in motor stall and thermal protection
  • Comprehensive Courseware: ABET-aligned courseware mapped to popular control engineering textbooks
  • Options: Inertia disk and pendulum attachment included

Interface USB
Dimensions (W x H x D) 10.2 cm x 10.2 cm x 11.7 cm
Weight 1..083 kg
Pendulum length (pivot to tip) 9.5 cm
DC motor encoder resolution (quadrature mode) 2,048 counts/revolution
Pendulum module encoder resolution (quadrature mode) 2,048 counts/revolution
DC motor nominal voltage 24 V
DC motor nominal current (no load) 0.016 A
DC motor nominal speed (no load) 5400 RPM
Current sense 12-bit, with 16 sample PWM synchronized digital filtering
Encoder 2 x 24-bit
Digital tachometer 2 x 32-bit with 13.8ns resolution
Textbook Mapping

Click here to view our comprehensive mapping tool which allows you to align courseware sections with specific chapters of the Experience Controls textbook app, as well as the most popular engineering textbooks such as:

Control Systems Engineering – N.S. Wise
Feedback Systems – K.J. Astrom & R.M. Murray
Feedback Control of Dynamic Systems – G.F. Franklin, J.D. Powell & A. Emami-Naeini
Modern Control Systems – R.C. Dorf & R.H. Bishop
Modern Control Engineering – K. Ogata
Automatic Control Systems – F. Golnaraghi & B.C. Kuo
Control Systems Engineering –  I.J. Nagrath & M. Gopal
Mechatronics – W. Bolton

Courseware Topics
Inertia Disk Module
Pendulum Module
Hardware integration Moment of inertia
Filtering Pendulum modeling
Step response modeling State-space modeling
Block diagram modeling Pendulum balance control
Parameter estimation Swing-up control
Frequency response modeling LQR state-feedback balance control
State-space modeling Pole-placement state-feedback balance control
Friction identification
Stability analysis
Second-order systems
Routh-Hurwitz stability
Nyquist stability
PD control
Lead Compensator
Proportional control
Steady-state error
Load disturbance
Optimal control
Introduction to discrete control
Discrete control design
Discrete control stability

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