QUBE-Servo Inverted Pendulum Model (Furuta Pendulum)
by Mitch Levis
This worksheet derives the linear differential equations, state-space model, and transfer function models from the nonlinear equations of motion of a generic rotary inverted pendulum. The Quanser QUBE-Servo parameters are then used to run some basic stability analysis, perform LQR, and simulate a closed-loop step response. The transfer function model is can then be exported to a Matlab m-file (*.m) to be used in the MathWorks Matlab/Simulink environment.
QUBE-Servo Inverted Pendulum Network Control Latency Demo
by Paul Karam
Demonstrates the effect of network lag using inverted pendulum stabilization between two PCs. The client PC implements the balance controller and the server PC is connected to the QUBE-Servo hardware. The user can adjust the network latency between the two PCs and see the affect it has on pendulum balancing.
Use the LabVIEW Web Publishing Tool to create a remote panel that can be connected to by a remote PC. The LabVIEW VI uses QRCP to interface to the QUBE-Servo and implements the swing-up and balance pendulum controller.
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