Configurable Circular Inverted Pendulum


The Configurable Circular Inverted Pendulum is designed for the basic control courses in automation, mechatronics, electronic, and electrical engineering. It satisfies the experiments of automatic control principle, modern control engineering, and electrical motor control. Equipped with embedded intelligent servo control module, the Circular Inverted Pendulum is easy to be controlled to obtain fast and reliable analytical result.

Its flexible mechanical structure module could be configured into three different structure styles for different rotary control challenges:

(a) the 1-stage rotary inverted pendulum
(b) the top inverted pendulum
(c) bracket-inverted pendulum.

Main Features:

This system is consists of two parts, the GCIP2004 body and the control system. The body consists of a cubic steel structure and a free rolling pendulum. The linear sensor measures the angle of the pendulum on the track by measuring the output voltage from the potentiometer. A DC motor is connects to a gear reducer, which controls the angle of beam which realize the angular control of the inverted pendulum.

The digital control system consists of an intelligent control module, which is a high precision, fully digital servo drive with embedded intelligence, and built-in 100W power amplifier and brushless motors. Programmable with the high-level Motion Language, the Intelligent Control module embeds on one board advanced motion control and PLC-specific functionality. Combined with a high-level Motion Language, a graphical platform for quick configuration, tuning and motion programming, the Intelligent Control module represents a flexible and easy way to implement solution for a wide range of applications. A user-friendly graphical control interface can visually shows the results of the controller and all of the operating data.

Applicable Experiments:

  • Servo motor control experiment
  • Design of automatic control system: Mathematical modeling of dynamic systems;
  • Control system design by root-locus method;
  • Control system design by frequency response;
  • PID control system design;
  • Fuzzy control system design etc.


MY Office : 72-3C, JALAN PUTERI 2/4, BANDAR PUTERI, 47100 PUCHONG, SELANGOR, Malaysia. Tel:+603-8063 9300 fax:+603-8063 9400
SG Office : 259, Onan Road, Singapore 424651. Tel: +65-6468 3325 Fax: +65-6764 5646