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Control System Synthesis - PhD Class Exercise session 2 October 8, 2020 1 Inverted pendulum on a cart Figure 1: Inverted pendulum. The equations of motion are : (M +m)ẍ+ bẋ+mlθ̈ cos θ −mlθ̇2 sin θ = F (J +ml2)θ̈ +mgl sin θ = −mlẍ cos θ (1) where: • M = 0.5kg is the mass of the cart • m = 0.2kg is the mass of the pendulum • b = 0.1N/m/sec is the coefficient of friction for the cart • l = 0.3m is
