pitsco 41427 - Page 160

Note: Control concepts described in detail in Modern Control Systems, by R. C. Dorf & R. H. Bishop, 13th Ed., Pearson
Education, Inc., 2017.
Figure 4 Closed-loop feedback control of an open-loop unstable plant.
Y(s)
Plant
Controller
G
c
(s)
G(s)
Actuator
Balancing Robot
T
d
(s)
R(s)=0
Sensor
H(s)
-
N(s)
E
a
(s)
Desired angle
from vertical
Actual angle
from vertical
158 Self Balancing Robot Assembly