James W. Kamman, Ph.D.
Associate Professor Emeritus
Mechanical & Aerospace Engineering
Western Michigan University
Home Up Control Demonstrator Motion Control Sled Inverted Pendulum Hand Cycle Hydraulic Bike Model

Parker Hannifin Motion and Control Laboratory
Senior Design Project

iPendulum: An Inverted Pendulum System1

The inverted pendulum system is designed to be mounted on an existing hydraulically driven sled. The sled is constrained to move along a single horizontal axis and is driven by a double-acting, double-rod hydraulic cylinder (1.5 inch bore, 5/8 inch diameter rod, and 12 inch stroke). The position of the sled is measured using a Temposonics® R-series magnetostrictive linear position sensor (40 inches long), and the angle of the pendulum is measured using a high resolution incremental encoder (Turck part number is T8-5805-MP4T-36000; resolution is 1/100th of a degree). 

The system is controlled using a proportional/integral (PI) compensator encoded in LabVIEW software. The software interfaces with the physical system using National Instruments PCI 6251 DAQ (data acquisition) card.

The system was modeled mathematically using MATLAB and Simulink during the design process. The design team determined part specifications and requirements by simulating the response of the system under a variety of conditions. A number of software tools were developed to facilitate the modeling process and analysis of simulation data.


1. Andrew Hovingh and Matthew Roon, "Design and Control of an Inverted Pendulum,"
    Mechanical and Aeronautical Engineering Report No. ME 0712-05, 
Western Michigan University, December 2007.

















Inverted Pendulum System in Parker Lab
Close-up of Base with Encoder Wheel
Front Panel #1 of LabVIEW Closed-Loop Control Software
Front Panel #2 of LabVIEW Closed-Loop Software: Encoder Initialization
Simulink Model of Inverted Pendulum System