Consider the inverted pendulum shown in Figure El. 13. Sketch the block diagram of a
Chapter 0, Problem E1.13(choose chapter or problem)
Consider the inverted pendulum shown in Figure El. 13. Sketch the block diagram of a feedback control m, mass Optical encoder to measure angle ; torque FIGURE E1.13 Inverted pendulum control. 39 system using Figure 1.3 as the model. Identify the process, sensor, actuator, and controller. The objective is keep the pendulum in the upright position, that is to keep 6 = 0, in the presence of disturbances.
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