INTEGRATION OF A ROTARY INVERTED PENDULUM INTO AN UNDERGRADUATE CONTROL LABORATORY

Abstract. The rotary inverted pendulum is a classic benchmark for teaching control systems. This paper presents the integration of a rotary inverted pendulum apparatus into an undergraduate computer engineering control laboratory. We describe the system’s hardware – including a DC motor with encoder, an STM32 microcontroller-based controller, slip ring, and sensors – and its interfacing with MATLAB/Simulink for real-time control. The pedagogical value of this apparatus is discussed, emphasizing how it reinforces fundamental control theory concepts. A Linear Quadratic Regulator (LQR) design is applied for pendulum stabilization, and example MATLAB/Simulink implementations for modeling and control design are provided. Literature examples of similar educational implementations are reviewed. Finally, we discuss the learning outcomes and benefits for students, demonstrating that the rotary inverted pendulum offers a rich, hands-on learning experience in control engineering.