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A Ball and Curved Offset Beam Experiment

The straight beam in the ball and beam control experiment was replaced by a curved beam mounted away from its center of rotation. The resulting system is much harder to understand, model and control than the ball and straight beam. Nonetheless, the apparatus was constructed, a model was derived using Lagrangian mechanics, and a controller was designed using a linearized model and the LQR. This controller was implemented and successfully stabilized the ball on the curved offset beam.