A NEW INVERTED PENDULUM APPARATUS FOR EDUCATION

An inverted pendulum fixed by a hinge to a rotating arm is proposed for control researches and for control laboratory experiments. It does not have the driving means such as belt or wire which yields uncertainties, and can also be used for the experiments of a running inverted pendulum. A controller is designed for a double inverted pendulum taking the uncertainties into consideration. A partial nonlinear controller is studied to expend the conventional linear one for linearizing the part of the nonlinear pendulum model.