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Lecture 26: Feedback Example: The Inverted Pendulum

Topics covered: Analysis of the open loop system and exploration of choices for the feedback dynamics; Behavior description through a second-order linear constant-coefficient differential equation; Root-locus analysis; Combination of proportional and derivative feedback to achieve pendulum stability; Demonstration: inverted pendulum on a track, effect of modifying dynamics, effect of modifying damaging characteristics.

Instructor: Prof. Alan V. Oppenheim

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