PendCon

The Double Rotary Pendulum Experiment

                                   

Main characteristics
The hardware of the rotary double pendulum experiment is easily obtained by mounting the double pendulum at the horizontal bar of the rotary pendulum. For this reason, no additional hardware must be purchased when the latter two experiments are already available. Conceptually, the double rotary pendulum experiment resembles the already mentioned experiments, but now, everything is much more complicated. This starts with the derivation of the underlying differential equations and ends with the design of stabilizing controllers. The closed-loop system reacts more sensitively on deviations of the simulated dynamics from the real dynamics as it was the case for the other two experiments. But on the other hand, when a stabilizing controller is found, it is much more impressive to see how it works.