Simple inverted pendulum

Hello friends,

During my academics, I designed a simple inverted pendulum for
set-point and trajectory tracking problems. At that time, I do not have
sufficient information regarding drives, Data acquisition cards, etc.,


design a simple inverted pendulum. But the cost is too high.

These are the details of the set-up I used to design an experimental

1. Maxon motor, and the Maxon driver, too costly.
2. NI-PCI 6014 data acquisition card. This has 2 analog outputs, but
the req. is only one analog channel o/p.

The purpose is to apply classical controls on a simple inverted
pendulum carrying 100gm weight.

Can any one please give sufficient information, so that for the
nexttime I can optimize things.

PS: Suppose if I purchase a motor of sufficient torque, I wish to
design driver circuit. If you people did any driver circuit designs
please post the articles.

Best regards
srinivas