MAKER: Designing and building the classical inverted pendulum on a cart

This paper describes the design and build of a pedagogical setup consisting of a two-DOF inverted pendulum, which is mounted on a three-DOF cart. This was a collaborative project between senior students in the departments of mechanical and electrical engineering at the United Arab Emirates University as part of their senior design capstone project. The students with guidance from their faculty mentors followed the various designing and building stages of the design process of the involved mechatronics system. This includes the steps of designing the setup, the building of the prototype, and the testing and verification of the prototype's subsystems.