These simulations are examples of the classic stick-slip oscillatory phenomenon that are often observed during petroleum drillstring operations. A standard drillstring model is first simulated, then compared to several configurations of the IMDU platform as a proof of concept research platform. Link
QUBE-Servo Inverted Pendulum Model (Furuta Pendulum)
by Mitch Levis
This worksheet derives the linear differential equations, state-space model, and transfer function models from the nonlinear equations of motion of a generic rotary inverted pendulum. The Quanser QUBE-Servo parameters are then used to run some basic stability analysis, perform LQR, and simulate a closed-loop step response. The transfer function model is can then be exported to a Matlab m-file (*.m) to be used in the MathWorks Matlab/Simulink environment.
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