Table 3: Physical parameters of the quadruple inverted-pendulum.

SymbolValueMeaning

0.924 kgMass of the cart
See Table 5Mass of the pole
0.1 N·s/mDynamic friction coefficient between the cart and the track
0.007056 N·s/mDynamic friction coefficient for the pole
See Table 5Distance from the position sensor to the center of gravity of the pole