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Part 1 – modeling, control laws, Kalman filter

The specific feature of an inverted pendulum is that its center of gravity is higher than its rotational or pivoting axis. So it’s a pendulum with its head at the bottom, and all it wants to do is fall over – like the human body. However, the brain works in conjunction with the eyes and ears to send adjusting nerve impulses to the muscles when our torso moves with respect to our ankles (pivoting point). Inverted pendulums are based on this principle.
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