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Inverted Pendulum Tutorial

System Description

The inverted pendulum control problem is the same as trying to balance a broom handle on your fingertip. You move the base of the handle to attempt to keep it upright. In control demonstrations, this is often mimicked in one direction by using a cart with an attached mass as shown in the figure below. (This photo shows a real inverted pendulum system at the University of Newcastle.)

Overview of the Example

It is recommended that you follow the example in order, but you may skip ahead if you wish::

Part 1 System modelling
Part 2 Control design using pole assignment
Part 3 Cascaded control design
Part 4 Cascaded system simulation
Part 5 State feedback controller