A fascinating and essential control problem for researchers is the inverted pendulum.
It remains a generally accepted standard used in control and robotics for validation of emerging
control technologies. A mathematical model of the inverted pendulum on a moving base
system was derived, an expression of the linearised state space representation of the system
was also presented, a controller to achieve specific criterion of the steady state error, rise and
settling time, and was obtained, an implementation of this control on MATLAB was carried
out together with the simulated animation of the system using Simulink and Simscap
