As someone who is new and is still learning about robotics, I hope you can help me out.
Let's say I have two systems:
- (a) Inverted Pendulum (unstable system)
- (b) Pole Climbing Robot (stable system)
For system (a), I would say that generally, it is a more dynamic system that produces fast motion. So, in order to effectively control it, I would have to derive the Equations of Motions (EOM) and only then I can supply the sufficient input to achieve the desired output. Eventually, the program will implement the EOM which enables the microcontroller to produce the right signal to get the desired output.
However for system (b), I assume that it is a stable system. Instead of deriving the EOM, why cant I just rely on the sensor to determine whether the output produced is exactly what I want to achieve?
For unstable system, controlling it is just difficult and moreover, it does not tolerate erratic behavior well. The system will get damaged, as a consequence.
On the contrary, stable system is more tolerant towards unpredictable behavior since it is in fact stable.
Am I right to think about it from this perspective? What exactly is the need for deriving the EOM of systems (a) and (b) above? What are the advantages? How does it affect the programming of such systems?
Edited: Some examples of the climbing robot that I'm talking about: