Overview

This is an open source project which aim to build a low cost control system--the rotary inverted pendulum, for undergraduate/graduate students major in Electrical Engineering or Mechanical Engineering, to provide a hands-on experiment set for control courses.

This is the rotary inverted pendulum:

Here is a video shows how it works:

Video 1
(If you cannot watch YouTube, please click here for YouKu)

By following this tutorial website, you could build this rotary inverted pendulum. Notice the jerky motion of the pendulum in the above video, that's because the motor has backlash in its gear box. If you use a better motor, the performance will become better. So, let's learn how to build one.