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.