A pole balancing cart on an unmodelled terrain

F. L. Tan, S. C. Fok, E. K. Ong

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


A pole balancing cart comprises a wheeled or track-guided vehicle which can move under its own power in the fore-aft direction, and a pole pivoted at its lower end which can swing smoothly in the fore-aft plane like an inverted pendulum. The cart is able to balance the pole in a near upright position while it moves across an unmodelled terrain through sensing the inclination of the surfaces and noise compensation. The cart with an inverted pendulum is a classical example in the control of unstable systems. This paper describes the mechanical, electrical, and electronics design of such a pole balancing cart.

Original languageEnglish
Pages (from-to)667-673
Number of pages7
JournalInternational Journal of Engineering Education
Issue number6
Publication statusPublished - 2002
Externally publishedYes

ASJC Scopus subject areas

  • Engineering (miscellaneous)
  • Education

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