Modeling and Analyses of the N-link PenduBot

As the foundation of the multi-link PenduBot control, the mathematical model should be established first. Based on the method of kinematics and dynamics, the N-link PenduBot mathematical models are established in this paper, including the nonlinear model, the linear model and the generalized model which considers the motor characteristic. The natural characteristic of the system is analyzed. By using the condition number of the controllability matrix. the control difficulty for the higher order systems is compared. From the comparison result, the control law of the different links PenduBot is obtained. Increasing with the count of PenduBot links, the control difficulty is growing dramatically. Only a strong control measure can make it stable. So, further study on multi-link PenduBot can be carried on.