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The methodology consisted of first modeling and understanding the nonlinear dynamics of the system, and then building the physical platform using a Raspberry Pi Zero W and a 3D\u2010printed structure, enabling both affordability and a carry\u2010it\u2010home (CIH) approach. Once constructed, the platform was calibrated to match its DT, after which pole placement and Linear\u2010Quadratic\u2010Gaussian (LQG) controllers were designed, simulated, and tested on both the DT and the HIL setup. To assess the educational impact, pre\u2010 and post\u2010course questionnaires were applied to gather students' perceptions and expectations. 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