Free Body Diagram of the cart in the horizontal direction,and we got following equation;

I could also sum the forces in the vertical direction, but no useful
information would be gained. The sum of forces in the vertical direction is not considered
because there is no motion in this direction and I consider that the reaction force of the
earth balances all the vertical forces.
The force eerted in the horizontal direction due to the moment determined;
!om"onent of this force in the direction of # is , The com"onent of the
centri"etal force acting along the horizontal ais is

!om"onent of this force in the direction of # is .
$umming the forces in the Free Body Diagram of the our system in the horizontal
Direction, I can get an equation for #%
If I substitute this equation &'( into the first equation &)(, I get the first equation of
motion for this system%
To get the second equation of motion, sum the forces "er"endicular to the system.
This ais is chosen to sim"lify mathematical com"leity. $olving the system along this
ais ends u" saving a lot of algebra. *ust as the "revious equation is obtained, the
vertical com"onents of those forces are considered here to get the following equation%
&+(
To get rid of the , and # terms in the equation above, sum the moments around the
centroid of the system to get the following equation%
&-(
!ombining these last two equations, I get the second dynamic equation%
&.(
The set of equations com"letely defining the dynamics of the system are%
&.(
These two equations are non/linear and need to be linearized for the o"erating range.
$ince the system is being stabilized at an unstable equilibrium "osition, which is 0,i1
radians from the stable equilibrium "osition, this set of equations should be linearized
about theta 2 ,i. 3ssume that theta 2 ,i 4 5, 6where 5 re"resents a small angle from the
vertical u"ward direction7. Therefore,
cos 6theta7 2 /), sin 6theta7 2 /5, and .
3fter linearization the two equations of motion become 6where u re"resents the in"ut7%
&8(
&9(
To obtain the transfer function of the linearized system equations analytically, I must
first ta:e the ;a"lace transform of the system equations. The ;a"lace transforms are%


<hen finding the transfer function, initial conditions are assumed to be zero. The
transfer function relates the variation from desired "osition &=ut"ut( to the force on the
cart &In"ut(.
$ince I will be loo:ing at the angle ,i as the out"ut of interest, solve the first equation
for >6s7,

Then, substituting into the second equation will yield%
the transfer function is%
<here,
From the transfer function above it can be seen that there is both a "ole and a zero at
the origin. These can be canceled and the transfer function becomes%
The transfer function can thus be sim"lified as%
where,
If i NEGLECT THE FRICTION in the system, that is, i ta:e the coefficient of friction b=0,
then
where, , and
Thus, the LINEARIZED APPROXIMATION TRANSFER FUNCTION for the system has
been obtained.In time domain, the transfer function can be stated as%