An inverted pendulum consists of a pole that acts as the pendulum, which is pivoted at one end and is attached to a cart. The cart can travel backward and forwards on a linear track, and by moving the cart appropriately it is possible to balance the pole and maintain it in its inverted position. In this assignment, you will be using a simple modular 3D-printed design for an inverted pendulum system that is driven using a stepper motor.
More specifically, your coursework task involves designing and implementing a state feedback controller with integral action to control an inverted pendulum that is mounted on a motorized cart.
This system is unstable without control and balancing the pendulum in its inverted configuration can only be achieved by displacing the cart. This assignment consists of two stages:
