Digital Pendulum

33-005-PCI

The Digital Pendulum is a modern version of

a classical control problem; that of erecting
and balancing a free swinging pendulum in
its inverted position or moving a hanging
pendulum in a controlled manner.
The cart on the track is digitally controlled
using MATLAB software to swing up and to
balance the pendulum into an upright
sustained position or to move the cart with
pendulum in an unperturbed down position.
The cart track is of limited length, imposing
constraints on the control algorithm.
In pendulum mode the system is used to control the twin arm pendulum from an initial position, hanging at
rest with the cart in the centre of its travel along the track, to a final position with the pendulum upright and
the cart restored to its central position. In crane mode the control problem is to move the position of the
cart without undue movement of the pendulum. This problem is typical of that experienced when
controlling a gantry crane.
A guide is given for PID controller design, testing,
tuning and implementation on the model. Root locus
technique is used to illustrate the changes that PID
controller tuning inflicts on the control system
performance. The designed controllers are prepared
in SIMULINK.

Screen showing MATLAB control software

Subject Areas

MATLAB System Identification Toolbox

Crane Linear Model Identification
Inverted Pendulum Linear Model
Pendulum Set-Up Control
First Model Identification
Plant Control
PID Control of Cart Model
Real-Time PID Control of Cart Position
Real-Time Swing-Up Control
Inverted Pendulum Control of Swing-Up
Inverted Pendulum Stabilisation
Crane Control

Combined Control Techniques

Swing-Up and Hold
Up and Down Model
Pendulum Model
Equations of Motion
Linear Models
Model Identification - Static Friction
Compensation
Running a Real-Time Model
Dynamic Model
Cart Model Identification

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Digital Pendulum

33-005-PCI

The phenomenological process models are designed

in SIMULINK to provide initial models for the user to
test. Model linearization is then discussed and the uses
of simple dynamics analysis such as bode diagrams
and poles and zeros maps are introduced.

Features

Dual mode system - crane or inverted pendulum

Self-erecting pendulum mode
Extensive MATLAB toolboxes are available from The MathWorks Inc.
An ideal vehicle for both undergraduate laboratory and project work
Introduction to PID control
Operates from either 110 V or 230 V, 50 Hz or 60 Hz

To obtain accurate models Identification procedures incorporating MATLAB functions are described. The user
has a chance to go step-by-step through the discrete models identification. One of the 'obtained models' is used
for the controllers design and PID control is explained. Using MATLAB together with the detailed training
manuals supplied by Feedback and an Advantech PCI card [which creates an impressive digital control system
development environment] the user is guided through the design process using the following:

Controller implementation in real-time

applications
Implementation of various control strategies
Data visualisation

Phenomenological process models

Dynamics analysis
Discrete models identification
Controller design
Controller tests on the model

Specification
Power requirements
Line voltage: 200/250 V or 100/125 V, 50 or 60 Hz.
Consumption: 100 VA. Fuse: 4 A (110 V), 2 A (230 V).
Dimensions & Weight
Length: 1710 mm, Height: 650 mm, Depth: 410 mm, Weight: 23 kg.

Tender Specification
A MATLAB controlled digital pendulum model comprising a cart with a
free swinging dual arm pendulum attached and associated track.

Ordering information
Order: Digital Pendulum 33-005-PCI System with MATLAB interface card and cable
Order: Digital Pendulum 33-005I System without MATLAB interface card and cable
For further information on Feedback equipment please contact ...

Feedback
Feedback Instruments
5 & 6 Warren Court
Park Road, Crowborough
East Sussex, TN6 2QX
United Kingdom
Tel: +44 1892 653322
Sales: sales@feedback-instruments.com
Website: www.feedback-instruments.com
Feedback reserves the right to change these specifications without notice

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