Inverted pendulum based on HP printer hardware, Arduino interface and MATLAB

Another short video of the Inverted pendulum, tuned properly and now outfitted with roller bearings to reduce friction. (In comparison with the original sliding bearings from the HP printer).

The system is controlled by an observer based optimal state feedback controller. The controller and observer are tuned with LQR. The swingup mode is done by using a simple energy-adding equation.

Furthermore, the pendulum has a nice wooden frame which even makes it a perfect piece of furniture for the living room..