01 / IMPLEMENTATION & CONTRIBUTION
What the work involves
Modeled the system using Lagrangian dynamics and implemented three-state feedback with a Luenberger observer and friction compensation.
Technical depth
The controller combines a nonlinear mechanical model, state feedback, observer-based state estimation, and real-time actuation through Wincon.
02 / RESULTS
What came out of it
Achieved stable equilibrium control of the unstable nonlinear system.
03 / SUPPORTING EVIDENCE
Follow the source
Implementation notes, project records, and supporting artifacts.
Source context & project scope
Control outcome and implementation details are from Donald’s Fall 2024 project summary.
Stable equilibrium control of a reaction-wheel pendulum using Lagrangian dynamics, three-state feedback, a Luenberger observer, and real-time friction compensation through Wincon. Champaign, Illinois.
CANDIDATE · 2026-09-17