  A pendular platform is a robotic structure commonly used in the design of
controllers given its nonlinear dynamics; This work presents the modeling,
design and implementation of an optimal LQR controller and a Sliding Mode SMC
controller applied to two commercial platforms, the Quanser rotary inverted
pendulum (RotPen) and the Lego mobile inverted pendulum (NxtWay). The
contribution of this work is to present a methodology of implementation of LQR
and SMC controllers on pendular platforms, attending the respective
restrictions of hardware and software in commercial prototypes. The article
presents the behavior of the controller designed on the analytical model
compared to its implementation.
