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Swing-up of an Inverted Pendulum on a Cart Using a Modified Energy Based Approach

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Figure

Fig. 1.Single inverted pendulum diagram.
Fig. 2.Diagram representing how sg(X) is defined. The arrows indicatethe direction of the cart’s displacement, while the number line indicates thecart’s position.
Fig. 4.Diagram of experimental setup.
Fig. 6.Simulated control effort.
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