Download Pendulum Accessory Fact Sheet (111K) Self-Erecting, Inverted & Noninverted Operation Lets you control open loop stable and unstable systems and dynamically transition between the two Fully Adjustable Dynamic Parameters Adjustable pendulum weight, rod length, and base inertia are ideal for studying control robustness and supporting multiple student assignments with same equipment Our inverted pendulum accessory is a cost effective way to enhance your laboratory's capability. It has a wealth of features not found in any other commercially available inverted pendulum apparatus. It's precision construction, fully adjustable dynamic parameters, and easy installation make it a valuable addition to any control systems laboratory. As with all ECP systems, complete dynamic models and example controllers are provided along with MatlabŪ scripts, for easy control modeling and design. The Executive USRŪ program lets you easily implement control and characterize the system via transient response, frequency response, stability and parameter robustness test features. With provided controllers and plug-and play installation you will get the system up and running in just minutes and perform interesting experiments the very same day. Easily Adapts to Most ECP Plants Two Pendulum Solutions From ECP ECP now offers two pendulum choices. Our ECP Inverted pendulum (Model 505) is a stand-alone system with unique dynamic characteristics (right half plane zeros and poles). This system has proven itself in 10 years of reliable in-field use and offers one of the lowest cost solutions for a stand-alone experiment commercially available. The Pendulum Accessory (A51) described on this page is based on the classical inverted pendulum model and adds on to other stand-alone ECP systems using their actuators, base feedback, and electronics.

Stimulating Experiments (Example: High Bandwidth Step Response) Commanded position (yellow), Base Position (red) and Pendulum Angle (green) test data show classical response characteristics A high bandwidth stabilizing controller regulates the base position. In the step response, the base makes an initial rapid reverse motion (nonminimum phase controller) [2], then moves in a positive direction [3] and overtakes the rod [4], to decelerate it and come to a final position [5]. The maneuver is complete in 0.8 seconds.