Model-based design for rapid controller prototyping of Furuta pendulum: A case study using low-cost hardware

The Furuta pendulum (rotary pendulum) is an example of a complex nonlinear oscillator. In this paper, we demonstrate how MATLAB and Simulink can be used for rapid prototyping of control strategies. A mathematical model of the system is derived using Euler-Lagrange equations. The benefits and drawbacks of using physical modeling and traditional mathematical analysis techniques are discussed. A model of the pendulum with LEGO MINDSTORMS hardware is used to validate the mathematically derived control strategies and the simulation models.