CURRICULUM TOPICS PROVIDED
Modeling Topics
• Derivation of dynamic model using Lagrange
• State-space representation
• Linearization
Control Topic
• Linear-quadratic regulator (LQR)
SPECIFICATION
• Mass of linear double pendulum assembly: 0.364 kg
• Medium pendulum mass (with T-fitting): 0.127 kg
• Medium pendulum length (pivot to tip): 33.7 cm
• Short pendulum mass (with T-fitting): 0.097 kg
• Short pendulum length (pivot to tip): 20.0 cm
• Mass of encoder hinge: 0.14 kg
• Hinge encoder resolution (in quadrature): 4096 counts/rev
