ES 581: Homework 2

Due: Th 02/06

1. Simulate the inverted pendulum discussed in class (with assumptions u = T/(mL²), g = L) using the following models, controllers, and initial conditions:

• Linear system S_* under proportional control using f(0) = 0.15rad, df(0)/dt = 0rad/sec

• Linear system S_* under proportional-derivative control using f(0) = 0.15rad, df(0)/dt = 0rad/sec

• Nonlinear system S under proportional control using f(0) = 0.15rad, df(0)/dt = 0rad/sec

• Nonlinear system S under proportional-derivative control using f(0) = 0.15rad, df(0)/dt = 0rad/sec

2. Compare the simulation results obtained from 1. Are they similar? What would make them very dissimilar?
3. Problem 2.5a
4. Problem 3.6a