[Research] Modeling of Rotary Inverted Pendulum (LQR controller)

Fig. 1. Components of QUANSER ROTPEN and Rotary inverted pendulum conventions

1.      Modeling

The rotary inverted pendulum system consists of a controller, an arm, a pendulum, an actuator (a dc motor) and two increment rotary encoders. The controller makes the
pendulum stand at upright position on the rotary arm by moving the arm supported on the base. The motor provides power to rotate the arm. The encoders detect the pendulum and arm angular position.

 

ID	Component
1	SRV02
2	Thumbscrews
3	Rotary Arm
4	Shaft Housing
5	Shaft
6	Pendulum T-fitting
7	Pendulum Link
8	Pendulum Encoder Connector
9	Pendulum Encoder

Table 1: Components of QUANSER ROTPEN