MODELING AND ANALYSIS OF AN INVERTED PENDULUM

Mathematical modeling of the physical systems is important to describe their dynamic behavior. Furthermore, mathematical model of a physical system enables to apply model-based control on the system. In the present work, an inverted pendulum mounted on a cart is modeled using different mathematical modeling approaches and the dynamic behavior of the system is analyzed. Equations of motion (EOM) for the inverted pendulum system are obtained using Newton-Euler formulationand Lagrange-Euler formulation. Control strategies are developed for the system to control the angular motion of the pendulum. The developed model is analyzed through simulation results

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