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Dynamic model of an inverted pendulum (part 1)


This post presents the model of an inverted pendulum. This device is composed of an activated trolley and a pendulum which has its center of mass above its pivot point.

Overview of the inverted pendulum

In this post, we will assume the following hypotheses:

The following notation will be used in this article to avoid too complex equations for the derivatives:

$$ \dfrac{d\Theta}{dt} = \dot{\Theta} $$

And for the second derivative:

$$ \dfrac{d^2\Theta}{dt^2} = \ddot{\Theta} $$

See also

Last update : 02/11/2021