Modeling, Simulation, and Construction of a Furuta
Pendulum Test-Bed
Mayra Antonio-Cruz
Ramón Silva-Ortigoza
Jacobo Sandoval-Gutiérrez
Carlos Alejandro Merlo-Zapata
Hind Taud
Celso Márquez-Sánchez
Instituto Politécnico Nacional
CIDETEC. Área de Mecatrónica
Unidad Profesional Adolfo López Mateos
CP 07700, México, DF, Mexico
Abstract—This paper presents a Furuta pendulum as a test-
bed to experimentally validate automatic control strategies or
theoretical concepts associated with nonlinear systems. Herein,
the modeling, simulation, and construction of a Furuta pendulum
test-bed are introduced step-by-step. The development of the
Furuta pendulum mathematical model is achieved by using
Lagrange equations of motion. In contrast with other works, the
development of this model includes an analysis of the system
kinematics. Also, a numerical simulation of the mathematical
model is performed via Matlab-Simulink. Furthermore, with the
purpose of presenting a different tool for the modeling and
simulation of dynamic systems, a graphical model and a graphical
simulation of the Furuta pendulum are carried out by means of
Working Model 3D. Moreover, a computer aided design of the
system under study is accomplished through SolidWorks, based
on such a design a test-bed is built. With the intention of verifying
that the test-bed built behaves according to the models (numerical
one and graphical one) presented herein, experiments with the
test-bed in open-loop are carried out by using Matlab-Simulink,
ControlDesk, and a DS1104 board from dSPACE.
I. I NTRODUCTION
In last decades, control engineering researchers have had a
strong interest on the underactuated mechanical systems. This
interest is due to such systems exhibit various problems that
can be observed in industrial applications, such as external
disturbances and nonlinear behaviors under different operation
conditions [1]. Among the underactuated systems the Furuta
pendulum –also known as rotary inverted pendulum– is found,
which is a mechanism that has two degrees of freedom (DOF)
and two rotational joints. It is essentially integrated by three
elements: a motor and two bars called arm and pendulum.
The motor’s shaft is connected to one end of the arm, which
causes the arm to be moved angularly in the horizontal plane,
whereas the pendulum is joined to the free end of the arm
through a link that can move freely and allows the rotation
of the pendulum in the vertical plane. This mechanism is a
popular device that has been used both as benchmark for the
analysis of nonlinear control and for educational purposes (see,
for example [2]–[9]).
Literature associated with the modeling, simulation, and
978-1-4799-7436-8/15/$31.00 ©2015 IEEE
Victor Manuel Hernández-Guzmán
Universidad Autónoma de Querétaro
Facultad de Ingenierı́a
CP 76150, Querétaro, Qro, Mexico
construction of the Furuta pendulum is as follows. Regard-
ing the modeling, Acosta [10] described a quasi-conservative
dynamic model derived from the classical mechanics, which
allows designing controllers as if the system was conserva-
tive. Another work, provided by Cazzolato and Prime [11],
introduced a dynamics of the Furuta pendulum considering a
full inertia tensor. That dynamics was developed by using two
methods: a Lagrangian formulation and an iterative Newton-
Euler formulation. Jadlovská and Sarnovský [1] reported an
application of a general procedure to derive a mathematical
model of the rotary inverted pendulum with an arbitrary num-
ber of pendulum links. To design such a model, Lagrangian
equations and a Rayleigh dissipation function were used. The
validation of the mathematical model was shown via numerical
simulations. Concerning the construction, Allotta et al. [12]
built two prototypes of the Furuta pendulum with the intention
of providing test-beds for the laboratories of mechatronics, and
complex dynamics and control systems of the University of
Florence. In the study of Garcı́a-Alarcón et al. [13], a proce-
dure to achieve the parameter identification of an experimental
system associated with the Furuta pendulum, a computer aided
design, and the system built were shown. Also, in order to val-
idate such a procedure, results from numerical simulations of
the system dynamic model were compared with experimental
results from the system built. On the other hand, two works
were introduced recently by Antonio-Cruz et al. [14], [15]. The
first one refers to the modeling and construction of a Furuta
pendulum prototype, and the second one is associated with the
modeling, computer aided design, and construction of a test-
bed of the aforementioned system. In both works, the modeling
and construction of a Furuta pendulum were reported step-by-
step. Also, numerical simulations of the system mathematical
model, developed in those works, were performed. In addition,
the Furuta pendulum built was experimentally tested to show
that it behaved according to the mathematical model.
Having undertaken the literature review, it was found that
few works have been exclusively dedicated to the modeling,
simulation, and construction of a Furuta pendulum. Further-
more, just two of those papers describe step-by-step the mode-
ling and construction of the system under study, but they do not
72
describe, step-by-step, the simulation of the Furuta pendulum where 𝐿 is the system Lagrangian, which is determined as
model. Moreover, to the authors’ knowledge, none of the
papers reported until now have introduced simulation results 𝐿 = 𝐾 − 𝑉, (3)
obtained from a graphical model of the Furuta pendulum. being 𝐾 and 𝑉 the kinetic energy and potential energy of the
Thus, in order to contribute in this direction, the main aim of Furuta pendulum system, respectively.
this paper is to present, step-by-step, the modeling, numerical
simulation, graphical simulation, and construction of a Furuta On the one hand, 𝐾 is the sum of the kinetic energy of
pendulum test-bed, including its experimental verification in the arm and the pendulum, which are, respectively, defined as
open-loop. The aforementioned contribution could be of great follows:
help, since to implement or validate automatic control strate- 1 ˙2
𝐾0 = 𝐼0 𝜃 , (4)
gies in real time for the underactuated system under study, 2 0
the modeling, simulation, and construction of a test-bed are 1 ˙2 1
required. Particularly, the graphical simulation could facilitate 𝐾1 = 𝐽1 𝜃1 + 𝑚1 𝜐1𝑇 𝜐1 , (5)
2 2
the understanding of the system dynamics, due to, unlike the
numerical simulation, it allows to observe a graphic of the where 𝜐1 is the linear velocity of the pendulum center of
system in motion. mass. Hence, an analysis of the Furuta pendulum kinematics
is required. Then, from Figure 2, the location of the pendulum
The remaining of the paper is structured as follows. Section center of mass is determined by
II deals with the development of the Furuta pendulum math- 𝑇
ematical model; whereas, the simulations of the system under 𝑥 = [𝑥𝑥 , 𝑥𝑦 , 𝑥𝑧 ] , (6)
study are treated in Section III. Furthermore, the construction where 𝑥𝑥 , 𝑥𝑦 , and 𝑥𝑧 are defined as follows:
of the Furuta pendulum test-bed is described in Section IV.
The experimental results of the test-bed built are shown in 𝑥𝑥 = 𝐿0 𝑐𝑜𝑠 (𝜃0 ) − 𝑙1 𝑠𝑖𝑛 (𝜃1 ) 𝑠𝑖𝑛 (𝜃0 ) ,
Section V. Lastly, the conclusion is given in Section VI. 𝑥𝑦 = 𝐿0 𝑠𝑖𝑛 (𝜃0 ) + 𝑙1 𝑠𝑖𝑛 (𝜃1 ) 𝑐𝑜𝑠 (𝜃0 ) ,
𝑥𝑧 = 𝑙1 𝑐𝑜𝑠 (𝜃1 ) .
II. M ODELING
Thus, 𝜐1 is given by
A representation of the Furuta pendulum is shown in Figure 𝑇
1. There, 𝜃0 is the arm angular position measured with respect 𝜐1 = [𝑥˙ 𝑥 , 𝑥˙ 𝑦 , 𝑥˙ 𝑧 ] , (7)
to an arbitrary position, 𝜃1 is the pendulum angular position being
measured with respect to the upright position, 𝜏 is the torque [
(applied to the arm) generated by the electric motor, 𝐼0 is 𝑥˙ 𝑥 = −𝜃˙0 𝐿0 𝑠𝑖𝑛 (𝜃0 ) − 𝑙1 𝜃˙0 𝑠𝑖𝑛 (𝜃1 ) 𝑐𝑜𝑠 (𝜃0 ) +
the arm inertia (when it turns around one of its ends) and ]
the motor inertia, 𝐿0 is the arm length, 𝑚1 , 𝑙1 , and 𝐽1 are + 𝜃˙1 𝑠𝑖𝑛 (𝜃0 ) 𝑐𝑜𝑠 (𝜃1 ) ,
the mass, the center of mass location, and the inertia of the [
pendulum, respectively. Lastly, 𝑔 = 9.81 m/s2 is the gravity 𝑥˙ 𝑦 = 𝜃˙0 𝐿0 𝑐𝑜𝑠 (𝜃0 ) + 𝑙1 𝜃˙1 𝑐𝑜𝑠 (𝜃0 ) 𝑐𝑜𝑠 (𝜃1 ) −
acceleration. ]
− 𝜃˙0 𝑠𝑖𝑛 (𝜃0 ) 𝑠𝑖𝑛 (𝜃1 ) ,
Pendulum
Z
J 1; m 1
g 𝑥˙ 𝑧 = −𝜃˙1 𝑙1 𝑠𝑖𝑛 (𝜃1 ) .

Center ò1 l1
of mass After replacing (7) in (5) and reducing the resulting ex-
Arm pression, the following is found:
Y
[( )2 ( )2
1 ˙2 1
I 0; L 0 𝐾1 = 𝐽1 𝜃1 + 𝑚1 𝜃˙0 𝐿0 + 𝑙1 𝜃˙0 𝑠𝑖𝑛 (𝜃1 ) +
ò0 2 2
O
X
( )2 ]
Motor + 𝑙1 𝜃˙1 + 2𝜃˙0 𝜃˙1 𝐿0 𝑙1 𝑐𝑜𝑠 (𝜃1 ) .
ü
Therefore, the Furuta pendulum kinetic energy, 𝐾, is given by
𝐾 = 𝐾0 + 𝐾1 ,
Fig. 1. Furuta pendulum. [( )2
1 ˙2 1 ˙2 1
= 𝐼0 𝜃0 + 𝐽1 𝜃1 + 𝑚1 𝜃˙0 𝐿0 +
2 2 2
As the Furuta pendulum is a two DOF system, its dynamic ( )2 ( )2
model is given by the following two Lagrange equations of + 𝑙1 𝜃˙0 𝑠𝑖𝑛 (𝜃1 ) + 𝑙1 𝜃˙1 +
motion: ]
( ) + 2𝜃˙0 𝜃˙1 𝐿0 𝑙1 𝑐𝑜𝑠 (𝜃1 ) . (8)
𝑑 ∂𝐿 ∂𝐿
− = 𝜏, (1)
𝑑𝑡 ∂ 𝜃˙0 ∂𝜃0 On the other hand, 𝑉 is the sum of the potential energy
( )
𝑑 ∂𝐿 ∂𝐿 of the arm and pendulum. Since the arm is moved on the
− = 0, (2)
𝑑𝑡 ∂ 𝜃˙1 ∂𝜃1 horizontal plane, its potential energy is constant and can be

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 Y Pendulum
In the implementation of the simulations (numerical one
P Center of mass and graphical one) the values of the parameters shown in Table
ò0 I were used.
l 1sin (ò 1) cos (ò 0)
l 1sin (ò 1)
𝐼0 = 0.4592 x 10−3 Kg ⋅ m2
xy 𝐿0 = 0.1414 m
Arm L0
L 0sin (ò 0) 𝑚1 = 0.038 Kg
ü 𝑙1 = 0.1475 m
ò0 𝐽1 = 0.2755 x 10−3 Kg ⋅ m2
X
O
L 0cos (ò 0)
TABLE I. PARAMETERS OF THE SYSTEM .
xx l 1sin (ò 1) sin (ò 0)

𝐿0 , 𝑚1 , and 𝑙1 were obtained directly from the test-bed built

and, subsequently, 𝐼0 and 𝐽1 were calculated.
(a) Projection of the arm and pendulum in the horizontal plane.
Z
Pendulum A. Numerical Simulation via Matlab-Simulink
l 1sin (ò 1) The numerical simulation of the Furuta pendulum math-
Reference ematical model, (10)–(11), was performed through a block
h P Center of mass diagram developed in Matlab-Simulink. This block diagram
consists of three blocks, namely, Input, System, and Outputs,
xz ò1 as can be seen in Figure 3.
l 1cos (ò 1) l1

Arm
1 1
MATLAB s s ò0

To Workspace
Function 1 1
s s ò1

(b) Projection of the pendulum in the vertical plane.

System
ü
Fig. 2. Free body diagram of the Furuta pendulum. t
MATLAB
Function Outputs
Input
considered equal to zero. Hence, the Furuta pendulum potential
energy 𝑉 is reduced to the pendulum potential energy, that is:
Fig. 3. Block diagram developed in Matlab-Simulink.
𝑉 = −ℎ𝑚1 𝑔 = 𝑚1 𝑔𝑙1 (𝑐𝑜𝑠 (𝜃1 ) − 1) . (9)
Then, from (3), which is associated with (8) and (9), and after The description of each block of the Figure 3 is as follows:
carrying out the corresponding derivatives in the equations
system (1)–(2), the dynamics of the Furuta pendulum is found ∙ Input. This block corresponds to the torque, 𝜏 , and
as follows: is constructed with a Matlab function [16]. The code
associated with this block is shown in Table II.
𝜏 = 𝛼𝜃¨0 + 𝛽 𝜃˙0 𝜃˙1 + 𝛾 𝜃¨1 − 𝜎 𝜃˙12 , (10)
1
0 = 𝛾 𝜃¨0 + (𝑚1 𝑙12 + 𝐽1 )𝜃¨1 − 𝛽 𝜃˙02 − 𝑚1 𝑔𝑙1 𝑠𝑖𝑛 (𝜃1 ) , (11) function tau=fcn(t)
2 if (t<=0.2)
tau=0.17;
where else
tau=0;
𝛼 = 𝐼0 + 𝑚1 𝐿20 + 𝑚1 𝑙12 𝑠𝑖𝑛2 (𝜃1 ) , 𝛾 = 𝑚1 𝐿0 𝑙1 𝑐𝑜𝑠 (𝜃1 ) , end

𝛽 = 𝑚1 𝑙12 𝑠𝑖𝑛(2𝜃1 ), 𝜎 = 𝑚1 𝐿0 𝑙1 𝑠𝑖𝑛 (𝜃1 ) . TABLE II. C ODE OF THE BLOCK Input.

III. N UMERICAL AND GRAPHICAL SIMULATION

In this Section, the numerical simulation and the graphical
simulation of the Furuta pendulum are described. Such sim-
ulations will allow to estimate the dynamic evolution of the
system variables 𝜃0 and 𝜃1 , when a torque, 𝜏 , is applied to
the system. Both simulations consisted in applying a constant
torque to the arm during a period of time equal to 0.2 s, moving
it from an arbitrary position, achieving that the pendulum
reaches a position between ±1 rad around the upright position
from its natural equilibrium point, that is, ±𝜋 rad. The
simulation time was set in 3 s.
∙ System. In this block the model (10)–(11) is pro-
grammed by using a Matlab function, whose corre-
sponding code is presented in Table III.
∙ Outputs. This block delivers the dynamic evolution
of the system variables, 𝜃0 and 𝜃1 , and the torque, 𝜏 ,
generated in the block Input.
The obtained results from the numerical simulation are
shown in Figure 4.

978-1-4799-7436-8/15/$31.00 ©2015 IEEE 74

 function Q=modelo(u) to the arm. To this end, the versatile properties windows
theta0p=u(1);
theta1=u(2);
that Working Model 3D possesses were used. Such windows
theta1p=u(3); allow specifying the mass properties, geometry, constraint
tau=u(4); characteristics, and attachment conditions of the designed rigid
Imot=2.6e-5;
I0=(1/3)*(0.065)*(0.1414ˆ2); bodies.
I0=I0+Imot;
J1=(1/12)*(0.038)*(0.295ˆ2); After carrying out the aforementioned graphical model, the
m1=0.038; graphical simulation was executed, through the graphical user
l1=0.1475;
L0=0.1414;
interface that Working Model 3D possesses, with the following
g=9.81; torque function:
M11=Ib+m1*(L0ˆ2)+(l1ˆ2)*m1*(sin(theta1)ˆ2); {
M12=m1*L0*l1*cos(theta1); 0.17 Nm for 0 ≤ 𝑡 ≤ 0.2 s,
𝜏= (12)
M21=m1*L0*l1*cos(theta1);
M22=J1+m1*(l1ˆ2);
0 for 𝑡 > 0.2 s.
M=[M11 M12; M21 M22];
C11=2*(l1ˆ2)*m1*sin(theta1)*cos(theta1)*theta1p; Thus, the positions of the arm and the pendulum, in some time
C12=-m1*L0*l1*sin(theta1)*theta1p; instants during the graphical simulation, are shown in Figures
C21=-m1*(l1ˆ2)*sin(theta1)*cos(theta1)*theta0p; 5(b)–5(d); whereas the corresponding simulation results are
C22=0;
C=[C11 C12; C21 C22]; shown in Figure 6.
G11=0;
G21=-m1*g*l1*sin(theta1); Z Z
G=[G11; G21];
T=[tau; 0];
Qp=[theta0p; theta1p];
Qpp=M\(T-C*Qp-G);
X X
theta0pp=Qpp(1,1);
theta1pp=Qpp(2,1);
Q=[theta0pp;theta1pp];
Y Y

TABLE III. C ODE OF THE BLOCK System.

60
40 θ0
[rad]

(a) (b)
20
t [s] Z
0 Z
0 1 2 3
6
3 θ1 X X
[rad]

0
−3 t [s]
−6 Y Y
0 1 2 3
0.2
τ
[Nm]

0.1
t [s]
0
0 1 2 3

(c) (d)
Fig. 4. Results of the numerical simulation with Matlab-Simulink.
Fig. 5. Graphical model of the Furuta pendulum.

B. Graphical Simulation by using Working Model 3D
The graphical simulation of the Furuta pendulum was
accomplished by using Working Model 3D, which is a
three-dimensional dynamics simulation software, developed by
Knowledge Revolution, whose dynamics simulation engine is
based on Newtonian mechanics. Furthermore, this software
includes motion simulation of systems generated with rigid
bodies, easy-to-use editing capabilities, and serves as a tool
for engineering simulation [17].
In the performing of the graphical simulation, a graphical
model of the Furuta pendulum was generated as shown in Fig-
ure 5(a). This model was achieved by a simple design of two
cylindrical rigid bodies (arm and pendulum) joined through
a revolute constraint, and by connecting an actuator (motor)
It is important to mention that the graphical user interface
of Working Model 3D allows to simulate a system with various
scenarios and situations.
IV. C ONSTRUCTION
The elements that integrate the Furuta pendulum test-bed
and the procedure followed in the construction of such a test-
bed are described below.
As shown in Figure 7, the Furuta pendulum test-bed is
composed –in general– of three blocks, namely: subsystems,
power stage, and data acquisition and processing. The block
subsystems refers to two subsystems, the first one corresponds
to a DC permanent magnet motor and two encoders; whereas,
the second one corresponds to a mechanical structure, which

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 fabricated by Baumer with 1024 CPR as maximum resolution.
60
θ0
Both encoders are of the incremental type.
40
[rad]

20 2) Mechanical structure: The mechanical elements that

t [s]
0 compose the Furuta pendulum test-bed were drawn and assem-
0 1 2 3
6
bled, virtually, by using SolidWorks, since this software in-
3 θ1
cludes advanced functions that facilitate the part modeling,
[rad]

0 creating assemblies, and generating plans easily and quickly.

−3
t [s]
Also, SolidWorks allows specifying the material properties for
−6
0 1 2 3
each part of the Furuta pendulum test-bed. Thus, a computer
0.2 aided design of such a test-bed was generated as shown in
τ Figure 8. In this figure each part that integrates the mechanical
[Nm]

0.1
t [s] 3 4 5 1 6
0
0 1 2 3
2 8

Fig. 6. Results of the graphical simulation with Working Model 3D. 7

9
includes the mechanical elements that are, directly and in-
directly, moved by the DC motor and those that hold the
system. The block power stage is integrated by two power 10
electronic devices, which as a whole provide energy to the DC
motor. The block data acquisition and processing is associated
with Matlab-Simulink, ControlDesk, and a DS1104 board from Fig. 8. Computer aided design of the Furuta pendulum.
dSPACE, which allow the acquisition and processing of the
data provided by the encoders. structure was labeled with a number, whose description is as
follows:
Data acquisition
➀ The arm was manufactured from a T–6061 T–6 alu-
Subsystems Power Stage
and processing
Mechanical structure minum round bar with a 5/8′′ diameter.
Analog DS1104 board

DC motor
servo drive
Encoders Power supply
Fig. 7. Block diagram of the test-bed.
A. Subsystems
This section describes the DC motor, encoders, and
mechanical structure. The DC motor provides angular move-
ment to the arm, the encoders are employed to sense the angu-
lar position of the arm and the pendulum, and the mechanical
structure was designed via the software SolidWorks, which is
a tool for mechanical design in 3D.
1) DC motor and encoders: Knowing the mechanical and
electrical characteristics of the DC motor is not a trivial
task; therefore, numerical simulations of the Furuta pendulum
mathematical model were performed with the intention of
determining the required torque to move the pendulum around
its upright position (see Section III). These simulations showed
that the required torque is 0.17 Nm. Thus, a 14204 Brush DC
motor from Pittman was used.
Regarding the encoders, the encoder that allows sensing
the arm position is included in the DC motor chassis and it
has a 500 CPR resolution; whereas, the encoder associated
with the pendulum is an ITD 01 A 4 Y 1 optical mini encoder
➁ The pendulum was made from a T–6061 aluminum tube
with a 3/8′′ outer diameter and a T–6061 aluminum sheet.
Computer Furthermore, the pendulum includes the shaft that must
be mounted into the pendulum encoder. The shaft was
manufactured from a C–1018 round AISI with a 1/2′′
diameter.
➂ This part corresponds to the DC motor with encoder
described in Section IV-A1.
➃ This part is the pendulum encoder described in Section
IV-A1.
➄ The encoder holder is used to hold the encoder of
the pendulum. This holder was made from a T–6061
aluminum sheet. This part includes a 628/6–2z deep
groove ball bearing from SKF.
➅ The upper sheet is used to hold the DC motor with
encoder and was manufactured from a stainless steel
sheet.
➆ The vertical aluminum profiles were made from Bosch
tubular profiles. The weight of the remaining parts that
compose the mechanical structure rests on such vertical
profiles.
➇ The horizontal aluminum profiles keep apart the vertical
profiles to a certain distance, providing structural stability
to the test-bed.

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 ➈ The bottom sheet, manufactured from a stainless steel
sheet, is used to hold the power supply that provides
energy to the electrical and electronic devices.
➉ The leveling legs are used to even the mechanical
structure on a surface, which allows avoiding undesired
movements of the test-bed.
The test-bed built can be seen in Figure 9.
Fig. 9. Furuta pendulum built, connected to the DS1104 board.
V. E XPERIMENTAL RESULTS
The experimental results obtained by using the test-bed
built of the Furuta pendulum are presented below.
The experimental tests were performed via Matlab-
Simulink, ControlDesk, and a DS1104 board, with the test-bed
built in open-loop and under similar conditions of torque, 𝜏 ,
as the ones used in the simulations. Thus, the experimental
results are shown in Figure 10, also this figure includes the
results obtained from the numerical and graphical simulation.
The latter, in order to observe how close the simulation results
are from the experimental ones.
In Figure 10, with the purpose of differentiating the simula-
tion results from the experimental ones, the following nomen-
clature was used. For the numerical simulation results the
variables 𝜃0 and 𝜃1 are denoted as 𝜃0𝑠𝑚 and 𝜃1𝑠𝑚 , respectively;
whereas, the graphical simulation results of such variables are
referenced as 𝜃0𝑠𝑤 and 𝜃1𝑠𝑤 , respectively. Lastly, 𝜃0𝑒 and
𝜃1𝑒 denote the experimental results of the aforementioned
variables. The input of the system, 𝜏 , is denoted as 𝜏𝑠𝑚 for
the case of the numerical simulation, 𝜏𝑠𝑤 for the graphical
simulation, and for the experimental results it is defined as 𝜏𝑒 .

It is important to mention that the design of the Furuta

60
pendulum test-bed was carried out in such a way that another [rad] θ0e θ0sm θ0sw
40
configuration of pendulum can be set (see [18]). 20
0 t [s]
B. Power Stage 0 1 2 3
6
As mentioned previously, the block Power Stage consists of 3 θ1e θ1sm θ1sw
[rad]

two power electronic devices. The first one is a switched power 0

−3
supply of the HF100W–SF–24 model. This power supply t [s]
−6
provides energy to the DC motor, by means of the second 0 1 2 3
power electronic device, that is, an analog servo drive, which is 0.2
τ0e τ0sm τ0sw
used to isolate the block data acquisition and processing from
[Nm]

0.1
the DC motor. Also, this servo drive amplifies the current of a
signal provided by the block data acquisition and processing, t [s]
0
being the amplified signal the DC motor input signal. The 0 1 2 3

servo drive is fabricated by Advanced Motion Controls in the

model AZ12A8DDC. An important characteristic of such a Fig. 10. Experimental and simulation results.
servo drive is that it includes an internal control-loop, which
avoids losses when the amplified signal is delivered to the DC
motor. In order to determine which of the models (either the
numerical one or the graphical one) predicts better the dynamic
C. Data acquisition and processing evolution of 𝜃0 and 𝜃1 , the Figure 10 was inspected visually.
Also, the error between the results of both simulations (nu-
This section deals with the connection between the test-bed merical one and graphical one) and the experimental results
and the DS1104 board from dSPACE. This board was selected was calculated.
due to the integration software between Matlab-Simulink and
ControlDesk, that is, the board firmware. ∙ In the case of the numerical simulation, the error 𝑒0𝑚
associated with 𝜃0 was found by using the following
In order to connect the test-bed with the DS1104 board, expression:
a block diagram is programmed in the Matlab-Simulink envi- 𝑒0𝑚 = ∣𝜃0𝑒 − 𝜃0𝑠𝑚 ∣, (13)
ronment. Such a program contains the blocks to generate the
signal that will be amplified by the analog servo drive. Also, whereas the error 𝑒1𝑚 related to 𝜃1 was determined
the program includes the blocks related to the ports of the by
DS1104 board where the incremental encoders and the analog 𝑒1𝑚 = ∣𝜃1𝑒 − 𝜃1𝑠𝑚 ∣. (14)
servo drive are connected. Later, the program is executed ∙ In the case of the graphical simulation, the error 𝑒0𝑤
by means of ControlDesk, which allows the acquisition and associated with 𝜃0 was calculated as follows:
processing of the data provided by the encoders and by the
DC motor input signal. 𝑒0𝑤 = ∣𝜃0𝑒 − 𝜃0𝑠𝑤 ∣. (15)

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 Likewise, the error 𝑒1𝑤 related to 𝜃1 was found with
the expression below:
𝑒1𝑤 = ∣𝜃1𝑒 − 𝜃1𝑠𝑤 ∣.
By visual inspection of Figure 10, it can be seen that
the numerical model (the one performed in Matlab-Simulink)
estimates better the dynamic evolution of 𝜃0 , but does not do
it better for 𝜃1 . Unlike the numerical model, the graphical one
predicts better the dynamic evolution of 𝜃1 , but does not do it
better for 𝜃0 . The previous observation is confirmed with the
results of the errors shown in Figure 11.
30
e0m e0w
20
[rad]
10
t [s]
0
0 1 2 3
3
e1m e1w
2 knowledges financial support from SNI-México.
[rad]
1 R EFERENCES
t [s]
0
0 1 2 3
Fig. 11. Error of the numerical and graphical simulation.
A. Discussion
The differences found when comparing the simulation and
experimental results are mainly due to the friction forces,
which neither in the development of the mathematical model
(10)–(11) nor in the graphical model were considered. Also,
another factor that limits the angular movement of the arm in
real time experiments, that is 𝜃0𝑒 , is the cable of the encoder
that senses the variable 𝜃1 , which is placed in such a way that
offers a minimum resistance to the arm movement.
VI. C ONCLUSION
This paper has introduced step-by-step the modeling, simu-
lation, and construction of a Furuta pendulum test-bed. Regard-
ing the simulation, two tools have been presented. The first one
consists in a numerical simulation by using Matlab-Simulink;
whereas, the second one refers to a graphical simulation by
using Working Model 3D. To the authors’ knowledge, this
paper has reported for the first time a tool for the graphical
simulation of the Furuta pendulum dynamics. On the other
hand, experiments on the test-bed built were successfully
carried out, since the obtained results are in accordance with
the ones obtained from the numerical and graphical simulation
of the Furuta pendulum models presented herein. Finally, the
results obtained from the numerical simulation and from the
graphical one were compared with the experimental results.
This, in order to determine which simulation results posses
the lowest error.
978-1-4799-7436-8/15/$31.00 ©2015 IEEE
This contribution has the purpose of facilitating the mode-
ling, simulation, and construction of a Furuta pendulum test-
bed. Such a test-bed can be used to experimentally validate
(16) automatic control strategies, and study some features of non-
linear systems, which will be treated in future works. Also, the
problem related to the identification of the Furuta pendulum
parameters will be reported. Furthermore, considering the
dynamics of the actuator and driver when developing the
Furuta pendulum mathematical model would be interesting.
In this direction, some works associated with the dynamics of
actuators and drivers can be found in [19]–[22].
ACKNOWLEDGMENT
The work of Mayra Antonio-Cruz, Carlos Alejandro
Merlo-Zapata, and Celso Márquez-Sánchez was supported by
CONACYT-México and BEIFI scholarships. Ramón Silva-
Ortigoza and Hind Taud acknowledge financial support from
Secretarı́a de Investigación y Posgrado del Instituto Politécnico
Nacional (SIP-IPN), SNI-México, and the IPN programs EDI
and COFAA. Likewise, Jacobo Sandoval-Gutiérrez thanks
the financial support from Cátedras CONACYT-México and
CIDETEC-IPN. Lastly, Victor Manuel Hernández-Guzmán ac-
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