IP01 and IP02 - Single Inverted Pendulum (SIP): User Manual
5. Single Pendulum Model Parameters
Table 6, below, lists and characterizes the main parameters associated with Quanser's two
types of single pendulums: "medium" and "long". These parameters are particularly useful
for the mathematical modelling and simulation of the single inverted pendulum system(s).
In Table 6, the model parameters, whose subscript finishes with an "l" correspond to the
"long" pendulum (of 24 inches). Likewise, the model parameters, whose subscript finishes
with a "m" apply to the "medium" pendulum (of 12 inches).
Symbol Description Value Unit
M
pl
Long Pendulum Mass (with T-fitting) 0.230 kg
M
pm
Medium Pendulum Mass (with T-fitting) 0.127 kg
L
pl
Long Pendulum Full Length (from Pivot to Tip) 0.6413 m
L
pm
Medium Pendulum Full Length (from Pivot to Tip) 0.3365 m
l
pl
Long Pendulum Length from Pivot to Center Of Gravity 0.3302 m
l
pm
Medium Pendulum Length from Pivot to Center Of
Gravity 0.1778
m
I
pl
Long Pendulum Moment of Inertia, about its Center Of
Gravity
7.88E-
003
kg.m
2
I
pm
Medium Pendulum Moment of Inertia, about its Center
Of Gravity
1.20E-
003
kg.m
2
B
p
Viscous Damping Coefficient, as seen at the Pendulum
Axis 0.0024
N.m.s/rad
g Gravitational Constant on Earth 9.81 m/s
2
Table 6 Single Pendulum System Parameters
6. References
[1] IP01 and IP02 User Manual.
[2] IP01 and IP02 - Single Inverted Pendulum (SIP) – Linear Experiment #5: LQR Control
- Student Handout.
[3] IP01 and IP02 - Single Inverted Pendulum (SIP) – Linear Experiment #5: LQR Control
– Instructor Manual.
Document Number: 511 ! Revision: 03 ! Page: 8
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