On using the Gameboy Advance as a controller for inverted pendulums

This paper describes the usage of a Gameboy Advance (GBA) for non-gaming applications in control systems. The GBA is extended with the XPort and the XPort Robot Controller developed by Charmed Labs. Typical control problems include balancing an inverted pendulum about its unstable vertical equilibrium point. This paper also explores the capabilities of this controller, which can serve as a cheap, widely available microcontroller that can find use in college-level control systems classes.