Home▸Robotics & Kinematics▸Furuta Rotary Inverted Pendulum 3D: Energy Swing-Up and LQR Balance

🌀 Furuta Rotary Inverted Pendulum 3D: Energy Swing-Up and LQR Balance

3D Furuta rotary inverted pendulum on a lab bench: exact nonlinear Lagrangian dynamics, Astrom-Furuta energy swing-up, a Riccati-solved LQR balance controller, voltage limit, encoder and delay effects, with live phase portrait and four numerical checks.

Robotics & Kinematics3DAdvanced60 FPS📱 Mobile-adapted🟠 Blender⇄ 2D version

⚙ Under the hood

Blender-built 3D Furuta pendulum on a lab bench: swing the arm to pump energy, catch the rod with LQR at the top, kick it, change the weight and watch the motor voltage, phase portrait and Lyapunov energy, with in-page numerical checks.

Furuta PendulumInverted PendulumLQRSwing-Up ControlControl Theory

3D · Three.js / WebGL renderer · 60 FPS target · runs fully client-side, no install