Linear Inverted Pendulum

The inverted pendulum system is a nonlinear unstable system, an ideal experimental platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. Through continuous research on ways of controlling the inverted pendulum, researchers have developed new control methods and applied them to high-tech areas such as aeronautical engineering and robotics.

The Inverted Pendulum Toolbox from Googol includes a Simulink Blockset library, a set of Simulink model examples and MATLAB code files for parameter calculation.  The pendulum hardware is controlled via a motion control board from Googol and an integrated driver that enables control from Simulink in external mode. This allows users to quickly realize controller models in Simulink, generate C-code from these models with Simulink Coder and leverage Simulink Desktop Real-Time for real-time testing of the models.