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Wheeled Inverted Pendulum Model

Wheeled Inverted Pendulum Model

5 comments

·October 25, 2025
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djoldman

Very cool.

As an aside: thanks to the author for pre-rendering the latex as the page looks pretty much the same with JS on or off.

Pre-render your latex!

https://katex.org/

AndrewOMartin

That whole page is so crisp and clean.

mhb

World's first video of 56 transition controls for a triple inverted pendulum

https://www.youtube.com/watch?v=I5GvwWKkBmg

MontyCarloHall

Very cool. tl;dw: an inverted triple pendulum has 2^3 = 8 equilibria, since each arm of the pendulum can either be up or down (naturally, all but one equilibria are unstable), and this controller is able to make all 8*7 = 56 transitions between them.

Control theory is one of those things that shouldn't possibly work, yet here we are.

Liftyee

Neat!

Useful revision of the engineering kinematics I covered a while ago.