A complex overview of the rotary single inverted pendulum system

The purpose of this paper is to perform an in-depth analysis of the rotary single inverted pendulum system using a Simulink block library designed by the authors of this paper — the Inverted Pendula Modeling and Control (IPMaC), which offers comprehensive program support for modeling, simulation and control of classical and rotary inverted pendula systems. With the aid of appropriate function blocks, GUI applications and demonstration schemes from the IPMaC, the rotary single inverted pendulum system is analyzed, modeled and successfully stabilized in the unstable inverted position.