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Lab3 - SYSC3600 Lab3 Hesham Alshaebi 100698585 • The...

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Unformatted text preview: SYSC3600 Lab3 Hesham Alshaebi, 100698585 • The equations for KP and k d in term of w n and ζ is described below: Plugging M = 1000kg, m = 200 kg, l = 10m, w n = .5 rad/sec, and ζ = 0.7 into the above equations we get: k p = 14272 k d = 7000 • The overall underdamped response is preferred over the over and critically damped responses in balancing the inverted pendulum since the underdamped response causes overshoots in the system response. Overshoots contribute the balancing effect in the system. • By subjecting the inverting pendulum system to a zero-input, the system response will be mainly affected by the system initial conditions, which is the starting angle of the system in this case. Assuming no frictions in the system and initial angle > 0, the pendulum will be swinging forever. The cart will move to the opposite direction of the pendulum movement on the x-axis. As the starting angle of the pendulum gets smaller, the pendulum motion gets slower and its swing gets larger. When the starting angle of pendulum motion gets slower and its swing gets larger....
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Lab3 - SYSC3600 Lab3 Hesham Alshaebi 100698585 • The...

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