Control practice using pendulum

Inverted pendulums are typical examples of unstable systems and have been used for the verification of designed control systems and/or control education in laboratories. In particular, the control of the systems has been known as a good example to show the power of modern control theory. We show two kinds of experimental system using inverted pendulums. One is state transfer control of a double pendulum (TITech double Pendulum) and the other is stabilization and hand-over control of a single inverted pendulum in 3D space by visual feedback using two manipulators. In the former experiment, we can demonstrate a standard stabilizing regulation method and nonlinear control techniques. In the latter one, feedback stabilization and reliable control by non-contact measurement can be taught. We show the details of the experimental systems, the control algorithm and the experimental results.