Dual-wheel Cart-inverted Pendulum System Based on DSP

Traditional inverted pendulums have many types.But all these types of the inverted pendulums are restricted in fix tracks.To control the inverted pendulums more unrestricted,more plenty and more challenging,a dual-wheel cart-inverted pendulum is designed by using the great function of DSP.The hardware which is in center of TMS320LF2407 and the control software of dual-wheel cart-inverted pendulum system are introduced emphasizely,by using modern control theory. Upright control of dual-wheel cart-inverted pendulum system is realized as well as and free movement while cart-inverted pendulum keep its upright.