Journal of Control Science and Engineering / 2017 / Article / Tab 1

Research Article

Stabilizing a Rotary Inverted Pendulum Based on Logarithmic Lyapunov Function

Table 1

Descriptions of physical parameters.

Parameter Description

Moment of inertia at the load
Mass of pendulum arm
Rotating arm length
Length to pendulums center of mass
Gravitational constant
Viscous damping coefficient
Motor torque constant
System gear ratio
Back-EMF constant
Armature resistance
Motor efficiency
Gear efficiency

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