According to Dorf and Bishop (1998), the most basic design of an inverted pendulum comprises of a pendulum link that is joined to a powered motor shaft. Even though the system works, it cannot be of great use in the real world. However, for this system to be applicable, it should have at least two angles of freedom. The system can be modified in such a way as to increase the degree of freedom (Dorf and Bishop 1998).
Depending on the configuration, the pendulum is joined to the cart through various methods (Franklin 2002). Ideally, researchers claim that there is unlimited number of links can be used with promising results. The double inverted pendulum whether linear or rotary, entails the use of two link systems and each of these links has only a single degree of freedom (Rubi and Avello 2002).
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