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Robert Lacoste's The Darker Side by Robert Lacoste

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Chapter 18 Linear Control Basics

In 1998, I developed the eZ-Stunt prototype. This project was an experimental platform built using a standard low-cost model car with an added vertical bar freely articulated on the top (Figure 18.1). Such a system is called an inverted pendulum and it is fundamentally unstable: If you leave the bar, it falls.

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Figure 18.1: Buy a low-cost RC-driven car, replace the radio with an on-board microcontroller, and add an unstable vertical bar. You get the eZ-Stunt, an experimental inverted pendulum platform.

In 1998, I developed the eZ-Stunt prototype. This project was an experimental platform built using a standard ...

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