Single inverted pendulum stability control, is actually a single-input multiple-output system stability control. At this point the system is a motor control input voltage u, the output is inverted pendulum angle and vertical position of spiral arms. Of the equation (2.5) for deformation of the gain and input-output equation between u, obviously, it is an unstable second-order system

pundulum1\output.asv
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.........\output.mat
.........\output1.m
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.........\pxitong.mdl
.........\pbiancan.mdl
.........\G.mdl
pundulum1

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