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.