Table 2: Definitions of system variables and parameters for Furuta pendulum system.

: inertia of the arm ( 0.001569 kg·m2)
: total length of the arm ( 0.16 m)
: mass of the arm ( 0.056 kg)
: mass of the pendulum ( 0.022 kg)
: distance to the center of gravity of the pendulum ( 0.08 m)
: inertia of the pendulum around its center of gravity (  kg·m2)