CURRICULUM TOPICS PROVIDED
Modeling Topics
• Derivation of dynamic model using Lagrange
• State-space representation
• Linearization
Control Topics
• Linear-quadratic regulator (LQR)
SPECIFICATION
• Rigid pendulum mass (with T-fitting): 0.230 kg
• Rigid pendulum length (pivot to tip): 64.1 cm
• Flexible pendulum mass (with T-fitting and weight): 0.458 kg
• Flexible pendulum length (pivot to tip): 43.5 cm
• Mass of flexible pendulum end weight: 0.256 kg
• Encoder resolution of linear servo base unit pendulum shaft (in quadrature): 4096 counts/rev
• Strain gage measurement range: ±5 V
• Strain gage calibration gain: 2.54 cm/V
• Flexible link stiffness: 2.64 N-m/rad
