Introduction
When it comes to control systems, the inverted pendulum system is something that stands out from amongst the rest. Linear control concepts such as stabilization of unstable systems can be demonstrated using the inverted pendulum. Since the system is intrinsically non linear, many non linear concepts can also be demonstrated using the inverted pendulum. This system has basically two equilibrium states, one stable and the other unstable. In the stable equilibrium state, the pendulum points downwards and in the absence of any controlling forces, it returns to its original state. In the unstable equilibrium state, the pendulum points upwards. ...