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fizzyfiz

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**Summary:**I know that in order to keep inverted pendulum balanced when it leans forward, I should accelerate the bottom of it, but what is the force which is applied to center of mass of the pendulum with balances torque due to gravity? Is it inertial force? We assume that our inverted pendulum is massles rod with a center of mass at its top. As a Radius of rotation we denote "L"as angle between vertical and pendulum "a"

M*g*sin(a)*L= F*L