Conference Paper

Dynamic models of a rotary double inverted pendulum system

Dept. of Electr. Eng., Chulalongkorn Univ., Bangkok, Thailand
DOI: 10.1109/TENCON.2004.1414994 Conference: TENCON 2004. 2004 IEEE Region 10 Conference, Volume: D
Source: IEEE Xplore

ABSTRACT This paper describes the dynamic models of a double rotary inverted pendulum, which has been developed for the laboratory experiments. Two different-length rigid pendulums are connected to a horizontally rotating disc which is attached directly to a DC motor. The derivation of the dynamical equations and the linearized model are described. Finally, the time responses of open-loop system are shown and compared with the experimental data to verify the model validity.

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