engleski

Mathematical modelling of an inverted pendulum

The modelling of the inverted pendulum on a cart is described. The cart can be put in motion by a DC motor with permanent magnet. The main charachteristics of the system (unstability, nonlinearity) from the control theory point of view are derived. The simulation results of the suitable mathemathical model are compared with the real pendulum considering the stick balancing and cart positioning. In the end, the described mathematical model is evaluated.

inverted pendulum; mathematical modelling

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