The total mass of our final design was found to be about 770 grams, including all components added, wires, wheels, etc. For the pendulum to keep in the upright position, a pendulum head was attached to the top of the rod to try to control it and prevent it from moving back and forth, thus resulting in equilibrium. The design shown below is based on the LEGO-Mindstorm EV3, and is a simple cart with two driving wheels, two fixed wheels at the bottom of it, and a pendulum attached to the top part of the cart in order to stabilise the system and help it reach equilibrium. Inverted pendulum efficiently and effectively the PID control strategy is used. The inverted pendulum system is unstable, complicated and non-linear. Control of an inverted pendulum using PID.
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