### Abstract

The ball-balancer, or cart-ball system, demonstrates some basic
concepts in control being nonlinear, multivariable, and
non-minimum phase. It is basically an inverted pendulum problem,
which is a much used benchmark problem. The objective here is to
provide an analysis of the system, which can be the basis for
designing different kinds of controllers.

Original language | English |
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Number of pages | 12 |
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Publication status | Published - 1998 |

## Cite this

Jantzen, J. (1998).

*Analysis of a Pendulum Problem*. http://www.iau.dtu.dk/~jj/pubs