The point of this assignment is to give you experience controlling a simple 1DOF robot, this time without velocity feedback.
Part 1: Modify the example program sample.cc, so you no longer use velocity feedback. Implement a state estimator or observer to replace the missing velocity feedback. Vary the position and velocity gains. How high can you increase the velocity gain now before the robot goes unstable?. Compare that to the maximum velocity gain when you were using the measured velocity.
Part 2: Get the fastest step response possible using a PD controller with your state estimator/observer. Have the robot start out straight down. Then set the desired position to be horizontal. Record the robot's movements so you can analyze the data. Gradually increase the position and/or velocity gain to get the robot to the horizontal position as fast as possible. We will define the arrival time as when the robot gets within 0.1 radians of the goal and stays within that distance to the goal. How is your performance relative to the performance you achieved while using the measured velocity (Assignment 4)?
Part 3: Implement your swingup trajectory from assignment 4 on the robot, using your state estimator rather than measured velocity. Is the performance any different from assignment 4?
Part 4: Implement gravity and friction compensation on the 1DOF robot, again using estimated rather than measured velocity. The robot should swing freely, neither gaining or losing velocity.
None so far.