PDF Design M o d elin g a nd S tab ilization o f a M o m e nt E x ch a n
in ter m s of the desig n pa rameter s D eÞn ition 1 The ph y sical d esign p arameters of the in verted p endulum are c ha racter ized b y the m asses m r m m the d imens ion s l r an d R th at are d e n ed as follow s T h e tot al m ass m r an d m m of resp ectiv ely the p en dulum ro d and the rotating iner tia