Located in KL302, the Nonlinear Control Laboratory houses a variety of experiments dedicated to research in advanced control methods, including nonlinear and adaptive control. Experiments in the laboratory include a single rotational inverted pendulum, a double inverted pendulum, a 3 DOF helicopter, a magnetic levitation experiment, a reaction wheel pendulum, a 4 DOF robotic arm, a set of five table-top mobile robots and a humanoid robot. These experiments serve as test beds for advanced nonlinear control methods, and provide students with an excellent opportunity to face challenging control problems. The computers in the lab are outfitted with dSpace real-time control cards, which allow control design and development to be carried out in Matlab and then compiled into a real-time executable. These control cards are widely used in industry, and therefore provide students with knowledge of great practical value. The laboratory also has stations dedicated to prototyping and development, and are used by students who are building control experiments from scratch.