WHEELTEC Second-Order Linear Inverted Pendulum Kit

The WHEELTEC Second-Order Linear Inverted Pendulum Kit is an advanced control theory learning platform designed for university students, researchers, and control engineering hobbyists. This high-performance kit provides a physical testbed for studying complex, naturally unstable systems using modern control algorithms. It is ideal for hands-on experimentation with state-space design and real-time feedback control.

Open-source LQR control platform

The IP870 standard version is built on the Linear Quadratic Regulator (LQR) control algorithm to maintain stability. It features fully open-source code, making it an accessible and cost-effective educational resource for control theory.

Patented mechanical design

This linear inverted pendulum features a robust, belt-driven slider mechanism secured by dual table clamps. The hardware design is officially protected under utility model patent number 201921344557.1.

Advanced dynamic system modelling

The second-order inverted pendulum is a highly non-linear, strongly coupled, and naturally unstable multi-variable system. It uses Lagrange mechanics to perform dynamic analysis and solve the state-space expression, enabling highly stable LQR control.

Dual mode configuration support

This kit can be configured to support first-order inverted pendulum functions, including LQR control, automatic swing-up, and automatic zero-point calibration. Complete source code routines are provided to help users transition from basic to advanced control concepts.

High-performance hardware specifications

Powered by an STM32F103RCT6 microcontroller, the system features an MD36N_P5.18 motor with a 500-line AB-phase GMR encoder and a 395 mm slider stroke. It includes a 0.96-inch OLED display, a Type-C serial port for one-key programme downloads, and comprehensive core board protection against overcurrent, short circuits, and electrostatic discharge.