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Inverted Pendulum on a Moving Cart – Testing Robustness and Control

In this video, I demonstrate my DIY inverted pendulum system mounted on a moving cart. An inverted pendulum is a classic problem in control systems engineering, where the goal is to balance a pendulum vertically, defying gravity, on a moving base. This project combines physics, engineering, and programming to achieve stability and robustness in a highly unstable system.

What is an Inverted Pendulum?
An inverted pendulum is a pendulum with its center of mass above its pivot point, making it inherently unstable. Without constant adjustments, it would quickly fall over. To keep it balanced, a control system is used to detect the pendulum's angle and adjust the cart's movement to counteract any tilt.

What is a Control System, and How Does It Work Here?
A control system is a mechanism that uses sensors and feedback to monitor and adjust a system's behavior to achieve a desired outcome. In this project, an MPU6050 sensor measures the pendulum's angle, and a PID controller processes this data to calculate how the cart should move to maintain balance. Additional feedforward control minimizes delays and improves responsiveness.

What Makes This Project Unique:

A lightweight pendulum crafted from a hollow curtain rod, mounted on a custom 3D-printed holder for durability and precision.
A belt-driven cart powered by four DC motors, controlled by an L298 driver for smooth and responsive motion.
Robust testing, including adding weights to the pendulum and applying external disturbances, such as pushes, to evaluate its stability.
What You’ll Learn and See:

Live demonstrations of the system’s robustness under various conditions, including how it recovers from disturbances and maintains balance with added weight.
Insights into the challenges of building and tuning a control system for a highly dynamic and unstable setup.
This project is a great introduction to the principles of robotics, control systems, and engineering problem-solving.