The Design and Realization of a Rotary Inverted Pendulum Based on STM32

In this paper, a single rotary inverted pendulum system is set up by using rotary encoder, servo motor and some mechanical structures. Lagrange equation is used to build up the mathematic model of single rotary inverted pendulum which is optimized by linear quadratic regulator (LQR) and fuzzy control method. Experiments are taken to verify this control strategy through Matlab simulation. The system is realized on STM32 development board.