Inverted Pendulum Mathematical Modelling & Control Design

Inverted Pendulum: Hardware to Software fully designed by me. I used the linear guide system that is taken out from defective Inkject Printer for hardware & some parts have been designed by 3D printer. Matlab simulation used for control sytem design such as LQR & Nonlinear Collocated Partial Feedback Linearization energy based swing up control. finally i have done this in Control system lab at IIT Jodhpur PDF Link for Mathematical Modelling & Controller Design: https://drive.google.com/open?id=1RMbsKERb9yGRl5VvO7Rf66DYAWdvEVUL Reference Video for Learn LQR: https://www.youtube.com/watch?v=1_UobILf3cc&index=14&list=PLMrJAkhIeNNR20Mz-VpzgfQs5zrYi085m Mupad Matlab Symbolic Calculation for Mathematical Modelling: https://drive.google.com/open?id=1Yn4IyOxs1Lf6PQlzRvepbsCD882b77A_ Matlab Mupad File: https://drive.google.com/open?id=19xEz4KWfkWdkOW0k9fO8DjzGFmFnciLl https://youtu.be/OwztCYKkG_o