On the Dynamics of the Furuta Pendulum

Figure 2

Response of the single rotary inverted pendulum system to a 10 V step input. Solid line represents the plant with the full inertia tensor 𝐽_2𝑦𝑦=𝐽_2𝑧𝑧=𝐽₂; the dashed line represents the plant only considering 𝐽_2𝑧𝑧 (𝐽_2𝑦𝑦=0).

(a)

(b)

(c)

(d)

(e)