E1 13 Consider the inverted pendulum shown in Figure E1 13 Sketch the block diagram of a feedback control system Identify the process, sensor, actuator, and controller The objective is keep the pendulum in the upright position, that is to keep u 0, in the presence of disturbances Optical encoder to measure angle T, torque FIGURE E1 13 Inverted pendulum control m, mass

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E1 13 Consider the inverted pendulum shown in Figure E1 13  Sketch the block diagram of a feedback control system  Identify the process, sensor, actuator, and controller  The objective is keep the pendulum in the upright position, that is to keep u   0, in the presence of disturbances  Optical encoder to measure angle T, torque FIGURE E1 13 Inverted pendulum control  m, mass

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Question: E1.13 Consider the inverted pendulum shown in Figure E1.13. Sketch the block diagram of a feedback control system. Identify the process, sensor, actuator, and controller.

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