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Keywords:Lego,NXT,Ball and Beam,PID,LQR.

Motivation and Audience: This tutorial's motivation is to study about the mechanisms behind the control of a classical ball and beam problem,using Lego to build the structure and the NXT Brick to program the balance code using NXC(Not Exactly C) language and the Matlab environment. Readers of this tutorial assumes the reader has the following background and interests:

.Automatic Controls Theory (PID and LQR)

.Controls Programming using lego NXT Brick (NXC language).

.Controls Programming using Matlab.

Parts List

Step by Step Building

. System Modeling.

. Programming