Linear Inverted Pendulum
ACROME Linear Inverted Pendulum is designed for learning and testing advanced feedback-control algorithms using an unstable non-linear system.
OVERVIEW
ACROME Linear Inverted Pendulum Trainer is a classic pendulum control challenge to teach students how to balance a vertical rod at the tip of a moving arm. The inverted pendulum system is a popular demonstration of using feedback control to stabilize an unstable system and is widely used as a benchmark for testing control algorithms. Made with durable industrial parts, combined with popular controller options and open-source software example codes, ACROME’s linear pendulum provides a superior experience for both entry-level and advanced users.
SOFTWARE
- MatLab/Simulink
CONTROLLER
- Raspberry Pi + Shield
- Arduino Mega + Shield
PRODUCT PHOTOS



SPECIFICATIONS
Payload
750 gr.
Workspace
800mm. in Carts Movement Direction & 360° in Rods Motion
Position Repeatability
± 1mm.
Angular Sensitivity
0.36°
Max. Speed
1,000 mm./s.
Height (min-max) / Weight
50 - 450mm. (± 2mm.) / 4,900 gr.
Platform Dimensions (Length * Width)
880mm. x 172mm. (± 2mm.)
Base Dimensions (Length * Width)
1,000mm. x 200mm. (± 2mm.)
Power Requirement
12 V - 2,5 A
Ball Diameter
1,000mm. x 200mm. (± 2mm.)
Motor Type
Brushed DC Motor with Built-In Encoder
Feedback Sensors
Encoder, Potentiometer
FEATURES
Durable DC servo motor
Implementation of basic and advanced digital control techniques
Fully documented system models and parameters provided for MATLAB®/Simulink®
Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
Open-source code examples with PI, PD controllers
Ready to control plant with all the components included
Open architecture, suitable for undergraduate and graduate courses as well as research projects related to advanced control systems.
Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
Open architecture, suitable for undergraduate and graduate courses as well as research projects related to advanced control systems.
Controller with USB / Ethernet, Plug-and-play
FAQs
What is a Linear Inverted Pendulum?
A linear inverted pendulum is a classical control system, used for teaching the basics of control systems, via using an unstable, non-linear physical hardware.
What is a Linear Inverted Pendulum used for?
The Linear Inverted Pendulum is used for trying different algorithms to control the rod's position in vertical and horizontal direction, in a safe and repeatable manner.
What are the different types of inverted pendulums?
There are 2 major pendulum experiment system designs. The rotary pendulums and the linear pendulums. ACROME's system uses the linear pendulum design. It is based on conventional rotary motors and belt & pulley mechanism for linear motion.
How many links does the rod have? Can I add more links?
ACROME provide its Pendulum with single link. Users are free to change the rod material and can use the same electro-mechanical structure to try multiple link systems.
Does the product comes with a controller and software/courseware?
Product comes with the controller, software and a companion courseware with example source codes.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.
CURRICULUM
COMPONENTS OF LINEAR INVERTED PENDULUM
Mechanical Parts
Electronics
Software
Electronics
Software
PERFORMANCE MEASURES
Time Domain Characteristics
Steady State Response
Steady State Error
Steady State Response
Steady State Error
MOTION FUNDAMENTALS
DC Brushed Motors
PWM Control of the Motor
Software Commands
PWM Control of the Motor
Software Commands
CONTROL SYSTEM DESIGN EXAMPLES
PI Example
PID Example
LINEAR-QUADRATIC REGULATOR (LQR) Example
PID Example
LINEAR-QUADRATIC REGULATOR (LQR) Example
FEEDBACK IN CONTROL SYSTEMS
Feedback Sources
Types of Feedback
Implementing Feedback
Types of Feedback
Implementing Feedback
SYSTEM MODELING
State-Space Representation
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