Corpus ID: 11887086

Control of an Inverted Pendulum

  title={Control of an Inverted Pendulum},
  author={J. Lam},
  • J. Lam
  • Published 2004
  • Computer Science
Figure 1: The inverted pendulum. This experiment consists of a cart with mass Mc on a one dimensional track with a pendulum attached to the cart. The pendulum starts in the upward position. The cart is driven by a force from a servo motor. The position of the cart is denoted by xc(t), and the Voltage to the servo motor is denoted by v(t). The angle between the pendulum and its vertical or upright position is denoted by α; see Figure 1. The nonlinear equations of motion 
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