Figure 1. Inverted pendulum and Data Acquisition Setup. We mounted BNO055 and MPU-9250 on an inverted pendulum. Two Arduino Uno clones served as I2C-to-USB/Serial translators. Data acquisition was triggered by data-ready signal of MPU-9250’s DMP running at 100 Hz. The distance from the pivot point of the inverted pendulum to the IMUs was: r=0.5 [m]

From

Angular Position Estimation of an Inverted Pendulum Using Low-Cost IMUs

Daisuke Aoyagi, Sukgi Choi

American Journal of Sensor Technology. 2018, 5(1), 1-6 doi:10.12691/ajst-5-1-1