Design, build, and test of an autonomous inverted pendulum cart

The paper contains a description of the design, construction, and testing of an autonomous inverted pendulum on a cart. The cart is battery-powered, containing an on-board processor which implements real-time control. The dedicated local area network consists of a wireless communication link between the host computer, which issues supervisory commands, and in return receives state and control data from the processor on the cart. Included is a summary of various alternative configurations of the inverted pendulum, including salient details regarding the modeling, identification, and controller design for the apparatus, as well as a list of laboratory exercises. Finally, a URL link is included for the CAD drawings of the device, a parts list, control programs, and a video demonstration of the cart in operation.