Modeling and control of a Furuta pendulum

The Furuta inverted pendulum is a benchmark for nonlinear underactuated control system. For our control lab, we developed an Arduino-based Furuta pendulum that can be integrated in real-time with the Simulink environment to design and test different controllers. This brief article presents some details of the model process of the pendulum and the development of a supervisory control scheme, that includes swing-up the pendulum from the down-right position and control it at the up-right position.