(Our characteristic equation of motion for the cart and motor system derived earlier.) | ||||

(Solve for ) |

(Our characteristic equation of motion for the inverted pendulum derived earlier. Now solve for ) | |||

(Equation of motion for the cart derived above) | |||||

(Equation of motion for the inverted pendulum derived above) |

This can be represented in matrix form as:

This has the general form of:

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