Benchmark Design, Construction and Real-Time Control for Pendulum on A Cart System

Inverted pendulum is frequently used in realtime application of linear and nonlinear control as a testbed. It is also a good tool to solve challenging nonlinear control problems as a result of its coupled nonlinear dynamics and underactuated nature. This paper focused on step by step design and construction of the well known benchmark system from mechanical and electronic components to hardware programming and simulation studies including generic controller design. The system is also designed to be used for educational purposes such as training of undergraduate and graduate programs engineering students.