Linear Inverted Pendulum

2-DoF Control Platform for Advanced Control Teaching and Research
ACROME Linear Inverted Pendulum is designed for learning and testing advanced feedback-control algorithms using an unstable non-linear system.
OVERVIEW
ACROME Linear Inverted Pendulum Trainer with Direct Drive Actuator is a classic pendulum control challenge built with special industrial automation components with the twofold educational target. The system can be used to teach students how to balance a vertical rod at the tip of a moving arm and be used as a tool to teach industrial components such as linear motors, servo motor drivers, magnetic encoders and sliding rails. The inverted pendulum system is a popular demonstration of using feedback control to stabilize an open-loop unstable system and is widely used as a benchmark for testing control algorithms.
SOFTWARE OPTIONS
LabVIEW, Real-Time (optional), FPGA (optional)
Altair Activate
Executable & GUI
Python
LabVIEW, Real-Time, FPGA (optional)
MatLab/Simulink
API for External Control (Examples for LV, Matlab, Python)
* Different controllers may require
PLATFORM OPTIONS
Local PC (Windows)
Digital-Twin
Local PC (Windows / Mac OS)
Remote Lab
FEATURES

Durable linear DC servo motor

Ready to control plant with Industrial servo motor driver

Implementation of basic and advanced digital control techniques

Tray position feedback using a high precision contactless magnetic encoder

Controller with USB Plug-and-play

Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™

Getting Started Program with rich Graphical User Interface for out-of-the-box user experience

Open architecture, suitable for undergraduate and graduate courses as well as research projects related to advanced control systems.

Open-source code examples with LQR, PI, PID controllers

CURRICULUM
COMPONENTS OF LINEAR INVERTED PENDULUM
FUNDAMENTALS OF LINEAR SERVO MOTORS, MOTOR DRIVES, AND CONTROL BLOCKS
FEEDBACK IN CONTROL SYSTEMS
SYSTEM MODELING
PERFORMANCE MEASURES
LINEAR-QUADRATIC REGULATOR (LQR) DESIGN
PI & PID CONTROL EXAMPLES
NONLINEAR SWING-UP CONTROL
SPECIFICATIONS

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