Low cost implementation of a inverted pendulum control system

Motivated by the need of testing control strategies, where students can observe the importance of practical test in control theories, and the high price of testing platforms, this study target the classic inverted pendulum control system construction and implementation using wasted components from printers and hard drives, electronic components and an open source microcontroller, resulting in a low cost didactic plant, that not only can be used by graduate students, but even for high-level control theories. In this paper, method of modern control by placement poles with help Ackerman's method is presented.