Quanser IP01 User Manual - 2. Single Pendulum M
IP01 and IP02 - Single Inverted Pendulum (SIP): User Manual
2. Single Pendulum M
odule: Applications
Quanser values itself for the modularity of its experiments. This modular philosophy facili-
tates the change from one experimental setup to another with relative ease of work.
Table 1, below, provides a list of the Quanser linear motion experiments using the single
pendulum module. Quanser's basic linear motion servo plants are the IP01 and the IP02.
The single pendulum can be used individually or in combination with other Quanser
modules, as shown in Table 1.
Experiment Name
Experiment Description
Linear Motion
Servo Plant
Single Inverted Pendulum
(SIP)
Design of a control system that keeps the
classical inverted pendulum balanced and
tracks the linear cart to a commanded
position.
IP01
IP02
Single Pendulum Gantry
(SPG)
Design of a control system to track a
desired
linear
cart
position
while
minimizing the swing of the suspended
pendulum.
IP02
Self-Erecting Single
Inverted Pendulum
(SESIP)
Design of a control system to swing up the
single pendulum, keep it upright, and
maintain/track the linear cart position.
IP02
Single Inverted Pendulum
on a Seesaw
Design of a control system to balance an
inverted pendulum on top of a seesaw
(MIMO system).
IP01
IP02
Linear Flexible Joint Cart
with Single Inverted Pendu-
lum
(LFJC with SIP)
Design of a control system to balance a
single inverted pendulum on a spring
driven linear cart.
IP01
IP02
Table 1 IP01- and IP02-Based Experiments Involving a Single Pendulum
Document Number: 511
! Revision: 03
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