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This document describes an assignment given to undergraduate students to design a digital controller for an inverted pendulum system using MATLAB/Simulink. The inverted pendulum is modeled using nonlinear differential equations which are linearized for control design. Students first design a continuous-time compensator using root locus then evaluate its performance on the nonlinear system for various initial conditions. Issues of digital implementation such as sampling rate selection, discretization method,

Author

Victor Passos

Language

EN