Asee peer logo

MAKER: Designing and Building the Classical Inverted Pendulum on a Cart

Download Paper |


2020 ASEE Virtual Annual Conference Content Access


Virtual On line

Publication Date

June 22, 2020

Start Date

June 22, 2020

End Date

June 26, 2021

Conference Session

Advances in Additive, Hybrid, and Digital Manufacturing Education

Tagged Division


Page Count




Permanent URL

Download Count


Request a correction

Paper Authors

author page

Khalifa H. Harib United Arab Emirates University


Sangarappillai Sivaloganathan United Arab Emirates University

visit author page

Dr Sangarappillai Sivaloganathan – Siva is a Srilankan by birth and a citizen of the United Kingdom. His experience in Sri-lanka started with an year’s post-graduate apprenticeship in the manufacturing shops of the Government Railway and nine years in the Cement Industry. He graduated as a Mechanical Engineer from University of Srilanka, and obtained his Masters from the University of Aston and PhD from City University of London, both in the UK. He started his career in the UK as the Senior Research Assistant at the SERC Engineering Design Centre. He joined Brunel University in 1995 where he worked for 18 years before joining United Arab Emirates University in August 2011. During his stay at Brunel he has worked with many British industries. Dr Sivaloganathan is a keen researcher in Design and was the Convenor for the International Engineering Design Conferences in 1998 and 2000. He has been a regular participant of the ASEE annual conference during the past few years. He has published more than 85 papers in reputed journals and conferences.

visit author page


Adewale Oriyomi Oseni United Arab Emirates University Orcid 16x16

visit author page

Oseni Adewale is a PhD student at the United Arab Emirates University. He obtained his B.Eng. (Mechanical Engineering) and M.Sc. (Mechatronics Engineering) from the Federal University of Technology, Yola, Nigeria in 2013 and University of Debrecen, Hungary in 2019 respectively. His research interests include Dynamics, Control, Robotics and Mechatronic Systems.

visit author page

Download Paper |


MAKER: Designing and Building the Classical Inverted Pendulum on a Cart The inverted pendulum system is an example commonly found in control system textbooks and research literature. Due to the presence of interesting dynamical characteristics associated with the system including nonlinearity, instability, and under-actuation, balancing of an inverted pendulum on a cart is a classical problem used in teaching control engineering. The objective of the control system is to balance the inverted pendulum by applying a force to the cart that the pendulum is attached to. Furthermore, building an, experimental setup for hands-on teaching of mechatronics control engineering, is possible using low-cost resources. In the setup to be presented, we have taken the problem to a higher level by increasing the degrees-of-freedom in the system. In the presented setup, the pendulum has two measured but unactuated degrees of freedom relative to the cart. The cart in turn is actuated along two directions in the horizontal plane. An Arduino based controller is used to stabilize the pendulum in upright position while moving the cart remotely. The project is done as a senior design graduation project by an interdisciplinary team consisting of four students from the departments of mechanical and electrical engineering at an international university. The special features and challenging parts of the project, the students’ experience and the lessons learnt from the project will be described in the paper. The prototype will show the achievements in the project.

Harib, K. H., & Sivaloganathan, S., & Oseni, A. O. (2020, June), MAKER: Designing and Building the Classical Inverted Pendulum on a Cart Paper presented at 2020 ASEE Virtual Annual Conference Content Access, Virtual On line . 10.18260/1-2--34939

ASEE holds the copyright on this document. It may be read by the public free of charge. Authors may archive their work on personal websites or in institutional repositories with the following citation: © 2020 American Society for Engineering Education. Other scholars may excerpt or quote from these materials with the same citation. When excerpting or quoting from Conference Proceedings, authors should, in addition to noting the ASEE copyright, list all the original authors and their institutions and name the host city of the conference. - Last updated April 1, 2015