CURRENT WORK IN PROGRESS:   Designed in Solidworks this custom-built inverted pendulum is used to explore a deeper understanding of control systems engineering. Using MATLAB and HIL testing/development, a basic PID loop control system will be developed for rudimentary control. Next, a linearized state-space model will be developed and implemented to approximate system characteristics near equilibrium. Finally, this system will be used to explore introductory non-linear controls techniques and concepts such as LQRs.