Towards Stable Balancing
نویسندگان
چکیده
The purpose of this document is to establish a technical framework to control Krang in its stable balancing state. We will first discuss related work in inverted pendulum-like systems to get acquianted with the literature. Next, we will present a simple inverted pendulum model, analyze the dynamics and simulate it. We will evaluate the effect of different control gains in state feedback control and analyze the effect of noise in output feedback control. Lastly, we will study the effect of modeling errors in mass measurements.
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تاریخ انتشار 2014