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1. System Modeling

System-Level Algorithm simulation —> Root-Locus of the system-level Proportion controller / Unit step response —> DC Motor integration control

2.EMECS Theories and Models

Rotary Inverted Pendulum System consists of servo- motor, shaft and pendulum rod. Use servo-motor to drive the shaft moving as a circle path, then control the pendulum rod swing up and stand still. The system is using MATLAB / Simulink to implement controller design and the simulation chart is as follow.

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