Circular Inverted pendulum

Googol's inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also an excellent tool for researchers of modern control theories. Through continuous research,  new control methods haven been developed and then applied to high-tech industries such as aeronautical engineering and robotics.
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The circular inverted pendulum adopts an open architecture control solution with expandible experimental modules. With the circular motion base platform, it is easy to be configured to satisfying various needs for control teaching and research. Namely:
(i) Circular one-stage inverted pendulum
(ii) Circular two-stage serial inverted pendulum
(iii) Circular two-stage parallel inverted pendulum
(iv) Combined serial & parallel inverted pendulums of three- and four-stages


  • Circular track with no travel limit for the inverted pendulum, suitable for swing up algorithm design.
  • Slip ring to feed signal to the controller.
  • Floor-standing structure, no workbench is required.
  • Industrial incremental encoder and AC servo motor.
  • Open platform PC-based DSP motion controller.
  • Open experiment verification and demonstration program of DOS version, with source codes provided, especially suitable for research of control algorithm.
  • Configurable control challenge experiment platform
  • Designed to solve the challenging control problems of balancing of parallel inverted pendulum and starting of serial inverted pendulum.



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