Stabilizing a Rotary Inverted Pendulum Based on Logarithmic Lyapunov Function

Table 1

Descriptions of physical parameters.

Parameter	Description
	Moment of inertia at the load
	Mass of pendulum arm
	Rotating arm length
	Length to pendulums center of mass
	Gravitational constant
	Viscous damping coefficient
	Motor torque constant
	System gear ratio
	Back-EMF constant
	Armature resistance
	Motor efficiency
	Gear efficiency