Inverted

Pendulum

JULY 4

Group:
Qammar Ahmad (2016397)
Muhammd Zikriya (2017346)

1
Introduction:
 We will consider a two-dimensional version of the inverted pendulum system with cart where the
pendulum is constrained to move in the vertical plane. For this system, the control input is the force   
that moves the cart horizontally and the outputs are the angular position of the pendulum   and the
horizontal position of the cart  .

The cart acts as the base for the rod which would move from left to right depending upon the position
of the force applied. This system is then modelled using Simulink to make a two- dimensional model
that is capable to stimulate the actual inverted pulley in real life.

The Simulink model would give the following model.

2
The given model is capable of making a graph as well which would simulate the graphical part
of the whole process.

3
4