Courseware
• Derivation of simple dynamic model using system parameters
• State-space representation
• State feedback control
• LQR control design
• Control parameter tuning
Device Specifications
• Device mass: 6.2 kg
• Device height (ground to top of base): 45 cm
• Device length (counterweight to front of propellers): 127 cm
• Base dimensions (W × L): 17.5 cm x 17.5 cm
• Pitch encoder resolution (quadrature mode): 4,096 counts/rev
• Travel encoder resolution (quadrature mode): 8,192 counts/rev
• Pitch angle range: ± 32.0 deg
• Elevation angle range: 63.5 deg
• Travel angle range: 360 deg