Project brief
This concept would develop a compact cart-pendulum teaching rig to connect mechanics, sensing, and feedback control. The study would start with a nonlinear model and compare it with a linearized balance model around the upright position. CAD would address limited travel, soft end stops, sensor mounting, and a removable pendulum so early tests can use the cart alone. Software would make state estimates, saturation, and controller mode changes visible in a local dashboard. Proposed deliverables include the model, mechanical layout, and a staged commissioning plan. Numerical responses would be labelled as simulated until measured, and the concept would not imply a completed stable prototype or use around unprotected moving mechanisms.
Design concept developed for this portfolio. The diagrams describe the proposed system; implementation and testing are part of the validation plan.
The engineering challenge
Connect an ideal control model to real sensor noise, friction, actuator saturation, and restricted cart travel.
Engineering approach
- Derive nonlinear and upright linearized models.
- Compare state-feedback settings in simulation.
- Design limited travel and accessible sensing.
- Stage commissioning from cart-only motion to restrained balance trials.
Validation plan
- Check model signs against simple free-motion observations.
- Exercise sensor-loss and travel-limit states without the pendulum.
- Compare measured small motions with simulated predictions.
Concept scope
- Nonlinear plant model
- State-estimation exercise
- Actuator saturation handling
- Limited cart travel
- Mode-state dashboard
Software & engineering tools
Python SciPy, MATLAB or Octave, FreeCAD, Encoder, Microcontroller