Inverted Pendulum

Mode

Double Pendulum

Controller

Gains

Disturbance

Continuous wind

strength3.0 N

Click the red bob in 3D to push it

Cart setpoint

x target0.00 m

Sim-to-Real Gaps

Encoder quantization

noise (jitter)0.0

delay (latency)0 ms

stiction (friction)0.0 N

ctrl freq500 Hz

About

The Inverted Pendulum Lesson

1. Inertia (Lagging): When the cart accelerates right, the bob lags behind, appearing to tilt left from the cart's frame.

2. Correction: To balance, the cart must move in the same direction the ball is falling to "catch" it.

3. PID Control: Proportional reacts to tilt; Derivative acts as a brake to prevent high-speed overshoot.

Suggested minimum stable gains for mp = - kg:

Manual control starting

drag to orbit · scroll to zoom · click bob to carry & place · select "Manual" to balance yourself

Stability Mathematics