Systems Laboratory. The course is organized into six laboratory modules.
Station 1: Single Inverted Pendulum
• Derive linearized dynamics, design LQR balancing controller (with PD swing up).
Station 2: Magnetic Levitator
• Derive linearized dynamics, design multi-loop control for the unstable system.
Station 3: Mass spring damper
• Derive equations of motion and perform system identification.
Station 4: Wheeled Robot
• Derive inverse kinematics and perform path planning and vision based control.
Station 5: Ball Balancer
• Model and Control the 2 servos underneath to balance ball.
Station 6: Robotic Arm
• Perform position control based on servo model.