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The double pendulum is an experiment for teaching linear and, to some extent, nonlinear methods of control theory. The pendulum is driven by a DC motor, and the angles that the links make are measured by two high-resolution encoders. The controller is realized in a target computer, and the controllers are synthesized on a host computer. A full and accurate Simulink® model of the plant exists. The real-time software is realized using xPC Target™.
The use of the pendulum experiment requires MATLAB, Simulink and Control System Toolbox for controller design and simulation, plus Simulink Coder, and xPC Target for controlling to the experiment hardware.