Table 4.

Notation and parameter values for the inverted pendulum.

Parameter	Symbol	Description/Value
Position of the wagon	p	State variable
Velocity of the wagon	v	State variable
Angle of the pendulum	θ	State variable
Angular velocity of the pendulum	$\dot{\theta }$	State variable
Force applied on the cart	F	Manipulated variable
Mass of the wagon	M	1 kg
Mass of the pendulum	m	0.5 kg
Gravitational constant	g	9.8 m/s
Length of the pendulum	L	0.3 m
Friction coefficient of the link	fθ	0.3 N/(m/s)