THE INVERTED PENDULUM

Arthur Ewenczyk
Leon Furchtgott
Will Steinhardt
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Philip Stern
Avi Ziskind

PHY 210
Princeton University
FORMULATING THE PROBLEM
 Pendulum
 Mass (m)
ẑ
 Length (l)

 Oscillating Pivot m
 Amplitude (A)
 Frequency (ω)

l
θ
A, ω
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FORMULATING THE PROBLEM
Forces Acting on the Pendulum
1. Gravity
ẑ
2. Force of the pivot
3. [Friction]

l
θ
A, ω
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EQUATION OF MOTION
 Newton’s Second Law
ẑ
 Linear motion: 2
d x
F  ma  m
dt 2
 Circular motion:
d 2 m
  I  I 2
dt
 Equation of Motion
l
θ
d
2
 total I 2 A, ω
dt
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TORQUES ẑ

 Gravity:
 grav  r F sin  m
 grav  mgl sin 

 Oscillating pivot: l
 Force: y (t )  A cos(t ) θ
d 2 y (t )
a 2
  2 A cos(t )
dt
d 2 y (t )
F  ma  m 2
 m 2 A cos(t )
dt

 Torque:   r F sin 
pivot

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 pivot  ml 2 A cos(t )sin 
EQUATION OF MOTION
d 2 2 d 
2
 total   grav   pivot  I 2  ml
dt dt 2
d 2
ml 2
2
 mgl sin   mg 2 A cos(t ) sin 
dt

d 2  g  2 A 
   cos( t )  sin   0
dt 2  l l 

Gravity Pivot
term term

m
For example:
θ
θ
m
g  9.81m.s 2
g l  19 cm
d 2 g d g
2
02 
  0   0 l 6
dt 2 l dt 2 l 0  7.19 rad.s 1
 (t )  exp(0 t )  (t )  sin 0 t 
PHYSICAL INTUITION
d 2  2  2 A 
 
 0  cos( t )  sin   0
dt 2  l 

Pivot term
(dominates for
large values of ω)

F  m 2 A cos(t )
Inertial (lab) Fmax   m 2 A
frame
F1  F2

  rF sin 
Non-inertial
frame  2  1
(of pendulum)   2  1 7

Butikov, Eugene. On the dynamic stabilization of an inverted pendulum. Am. J. Phys., Vol. 69, No. 7, July 2001
REPARAMETERIZATION
  
Reparameterize:   t  t  
 

d 2  02 A 
   cos( )  sin   0
d 2   2 l 

 
2
A
Let:    0  
  l

d 2
    cos( ) sin   0
d 2
For small values of θ: sin   

d 2
    cos( )   0
d 2

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Mathieu's Equation
STABILITY
d 2
    cos( )  0
d 2

stable stable
Regular Pendulum:
 0

unstable Inverted Pendulum: unstable

 0

Smith, Blackburn, et. al. Matlab Plot

Stability and Hopf bifurcations in an inverted
pendulum. Am J. Phys. 60 (10), Oct 1992

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PHYSICAL REGION
Our values of ε and δ

A 12 inch 0.013m
    0.067 (fixed)
l 19 cm 0.19m

02 7.192 (depends on

   [2; 0.001]
 2 [5 Hz; 200 Hz]2 ω)

Stability condition:
(approximating A << l)
A 
  2
l 0 

 c  2.2 103
c  24.2 Hz

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ε = 0.067
SAMPLE PLOTS

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HOW WE BUILT IT

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HOW WE BUILT IT

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HOW WE BUILT IT

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WHY THE DRIVER DIDN’T WORK

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HOW WE BUILT IT

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HOW WE BUILT IT

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HOW WE BUILT IT
Some of the things we originally used to stabilize the
pendulum

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HOW WE BUILT IT

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HOW WE BUILT IT

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HOW WE BUILT IT

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DATA AQUISITION

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DATA ACQUISITION

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DATA AQUISITION

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DATA
Speed 1 (8 Hz) Speed 2 (13 Hz)
Speed 2
Speed 1 1
2

0
0
-1

-2
-2
Light Intensity

Light Intensity
-4 -3

-6 -4

-5
-8

-6
-10
147.8 147.9 148 148.1 148.2 148.3 148.4 148.5 148.6 148.7 148.8
Time -7
184.5 184.6 184.7 184.8 184.9 185 185.1 185.2 185.3 185.4 185.5
Time

Speed 3 (23 Hz) Speed ~2.8 (22 Hz)

Speed 3 Just Unstable
1 1

0.5 0.5

0 0
Light Intensity

Light Intensity

-0.5 -0.5

-1 -1

-1.5 -1.5

-2 -2 25
-2.5 -2.5
206.8 206.9 207 207.1 207.2 207.3 207.4 207.5 207.6 207.7 207.8 379.1 379.2 379.3 379.4 379.5 379.6 379.7 379.8 379.9 380 380.1
Time Time
DATA AQUISITION

1415 RPM = 23.58 Hz

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PROBLEMS WE HAD
 Finding right amplitude and frequency
 Finding right equipment

 Stabilizing apparatus

 Getting apparatus to right frequency

 Soldering

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THANK YOU
 Professor Page
 Wei Chen

 PHY 210 Colleagues

 Sam Cohen

 Mike Peloso

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