抄録
In this paper, the position control system of a second-dimensional inverted pendulum is described. The second-dimensional inverted pendulum (s.d.i.p.) means the inverted pendulum with the fulcrum moving on the plane. The design of this control system consists of two problems. The first is the design of the driving mechanism of the cart which suports the fulcrum, and the structure of sensor to measure the angle of inclination between the vertical line and the pendulum. The second is controller's design. We use the Utmost Compensation Type controller as the controller to the s.d.i.p. In the last place, we present the experimental results.
