Numerical models and controller design parameters for the balancing cube

The Balancing Cube is a dynamic sculpture that can balance on any of its edges or corners through the action of six rotating arms mounted on its inner faces. The arms are self-contained units, each equipped with sensors, actuation, and a computer. They exchange data over a network and coordinate to stabilize the cube. The system is used as a testbed for distributed estimation and control. The design, modeling, and control of the system is presented in [1]. This report complements [1]; it states the numerical values for the linear dynamic models of the cube in [1] and the parameters of the state-feedback control design in [1].