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Modelling of the rotary inverted pendulum system

This paper presents an approach on the bond graph modelling applied to a Quanser rotary inverted pendulum experiment followed by the computation of the mathematical model. The system was decomposed into subsystems that were modelled separately. The obtained subsystems generated submodels and the overall model was then built up by combining these separate structures. The model was built up and simulated using BondSim environment.