A simple device and a project for the nonlinear control systems laboratory

This paper describes a new inverted pendulum system that is useful to illustrate important aspects of nonlinear control systems theory. The stabilization of the pendulum is to be achieved by the on-off action of two electromagnets; therefore, an adequate switching policy has to be applied. The pendulum can be controlled by a computer, using simple electronic interface circuits. This paper considers first an example from literature that suggests some design principles about the new system. Second, there is a detailed description of the pendulum. Finally, the use of the system in a student's project is presented. The experimental device is easy to build, inexpensive, and has good pedagogical impact.