by Benjamin Kelm - [email protected]
Small project of a self-righting inverted pendulum, to showcase a classical control problem. Implements a LQR (Full) State Feedback Controller for attitude control.
Inverted Pendulum on a Cart (IPoC) - simulated in MATLAB/Simulink and implemented with Teensy/MPU6050
Necessary Hardware:
- Teensy 4.1
- MPU6050 IMU Sensor
- L298 Dual H-Bridge
- Brushed Motors with Wheels
- Battery, (wooden) base, cables
Apprx. 50-60โฌ cost, 4-5h build time
License: MIT Requires Teensyduino and the MPU6050 simple library.