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i have this pendulum:

i need to stabilize the pendulum in the inverted position , i need to know the potential energy for the pendulum , i read several articles in each one i have a different equation :

[itex]V=mgl_{p}cos\alpha[/itex]

[itex]V=-mgl_{p}cos\alpha[/itex]

[itex]V=mgl_{p}(1-cos\alpha)[/itex]

[itex]V=mgl_{p}(cos\alpha-1)[/itex]

Now i'am really confused which equation is the correct one?

Please help me

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# Pendulum Potential energy equation

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