Summary: Inverted pendulum systems: rotary and
arm-driven - a mechatronic system
design case study
S. Awtar, N. King, T. Allen, I. Bang, M. Hagan,
D. Skidmore, K. Craig *
Department of Mechanical Engineering, Aeronautical Engineering and Mechanics,
Rensselaer Polytechnic Institute, Troy, NY 12180, USA
The inverted pendulum, a popular mechatronic application, exists in many dierent forms.
The common thread among these systems is to balance a link on end using feedback control.
Two challenging inverted pendulum systems are the rotational and arm-driven systems. The
system described in this paper can be transformed from the rotational to the arm-driven
con®guration by replacing the links and setting the base on its side. It was designed and built
by students as part of the course Mechatronic System Design at Rensselaer. This paper pre-
sents a summary of a mechatronic system design case study for the rotary inverted pendulum
system. Ó 2002 Elsevier Science Ltd. All rights reserved.
1. Introduction: Mechatronics at Rensselaer
Mechatronics is the synergistic combination of mechanical engineering, electron-
ics, control systems, and computers. The key element in mechatronics is the inte-
gration of these areas through the design process. The essential characteristic of a