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This research aims to design and control a Ball-on-T-shaped Inverted Pendulum system for advanced control validation.

February 28, 2026Measurement and ControlOpen Access

Design, modeling, and control of a ball-on-T-shaped inverted pendulum system with experimental validation

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Experimental platform demonstrates effective control strategies in an under-actuated pendulum system, suggesting a robust benchmark for mechatronics.

This research aims to design and control a Ball-on-T-shaped Inverted Pendulum system for advanced control validation.
Developed nonlinear dynamics using the Euler–Lagrange formulation.
Implemented pole placement and linear quadratic regulator (LQR) control strategies.
Used a full-state observer for estimating unmeasured states.
Validated controllers through MATLAB/Simulink simulations and real-time experiments with National Instruments DAQ hardware.
LQR achieved full stabilization in approximately 2.8 seconds with a maximum pendulum deviation of ±0.015 rad.
Ball-position error remained below 5 cm while control effort was within ±5 N.
Pole-placement controller stabilized the system in about 3.2 seconds, though with slightly higher noise.

Tamimi et al. (2026) studied this question.

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Experimental platform demonstrates effective control strategies in an under-actuated pendulum system, suggesting a robust benchmark for mechatronics.