Open Access
Table 1
Parameter of inverted pendulum system.
| Parameter | Symbol | Parameter | Symbol |
|---|---|---|---|
| Pendulum rod mass | m | Armature Resistance | R |
| Cart mass | mc | Armature Inductance | L |
| Distance from CG | l | Back EMF constant | Ke |
| Moment of inertia | I | Torque constant | Kt |
| Cart traveled distance | x | Armature Inertia | J m |
| Rod angle | Q | Armature Damping Coef. | bm |
| Friction coefficient of the cart | c | Motor torque | Tm |
| Friction coefficient of the rod | b | Pulley Radius | r |
| Gravitational acceleration | g | Armature current | i |
| Reaction forces | V, H | Supply voltage | Vs |
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