Hey everyone, I'm brand new here, so please bare with me if my question doesn't come out right. 1. The problem statement, all variables and given/known data So for my senior design class I am working with a control system that balances an inverted pendulum. Here is my SIMULINK diagram: http://dl.dropbox.com/u/62748/Untitled.jpg [Broken] I am using a simple potentiometer to measure the angle of the pendulum, but my question is, where do I hook this into? The input that is currently there is a force. Like a disturbance on the cart. 2. Relevant equations I used the following equations from wikipedia to model the system and I linearized them about θ = 0 http://en.wikipedia.org/wiki/Inverted_pendulum#Pendulum_on_a_cart 3. The attempt at a solution Since the bottom right integrator's output is the angle, my inclination is to take out that integrator and connect the output from the pot to where the output of the integrator used to be. Does that make sense? I've tried asking my professor, but I don't think he understands my question and if I ask him any more times he might think I'm crazy lol.