Challenge:
Design a control system to balance an inverted
pendulum using a rotary motion arm.
Description:
A DC motor rotates a stiff arm at one end of the
horizontal plane. The opposite end of the arm is instrumented with
a joint whose axis is along the radial direction of the motor. A pendulum
is attached to the joint.
Design a controller that maintains the pendulum
upright and such that the arm tracks a commanded position. The system
is supplied with a state feedback controller. You may design any other
controller you wish.
Difficulty:
Undergraduate - first course, second course
