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18 bytes added ,  07:23, 29 September 2015
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[[File:inverted_pendulum_new.png|Schematic drawing of the inverted pendulum.]]
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[[File:inverted_pendulum_new.png|frame|Schematic drawing of the inverted pendulum.]]
    
Linearization around the point <math display="inline">\theta=\pi</math> and substitution of <math display="inline">\theta'=\theta-\pi</math> (from here on in the analysis, <math display="inline">\theta'</math> will be written as <math display="inline">\theta</math>, but it should be noted that <math display="inline">\theta</math> now
 
Linearization around the point <math display="inline">\theta=\pi</math> and substitution of <math display="inline">\theta'=\theta-\pi</math> (from here on in the analysis, <math display="inline">\theta'</math> will be written as <math display="inline">\theta</math>, but it should be noted that <math display="inline">\theta</math> now
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one obtains the Bode plots of the two transfer functions.
 
one obtains the Bode plots of the two transfer functions.
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[[File:bode_g1.png|Bode diagram of the cart movement transfer function.]]
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[[File:bode_g1.png|frame|Bode diagram of the cart movement transfer function.]]
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[[File:bode_g2.png|Bode diagram of the pendulums rotation transfer function.]]
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[[File:bode_g2.png|frame|Bode diagram of the pendulums rotation transfer function.]]
    
==References==
 
==References==
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