Symbol

Meaning

Numerical

Unit

M

Cart mass

1.096

kg

m

Pendulum mass

0.0426

kg

b

friction coefficient

0.1

N/m/sec

l

Pendulumlength

0.152

m

I

Moment of inertia of pendulum rod

0.0034

kg * m * m

x

Cart position coordinates

m

$\theta$

The Angle between the pendulum rod and the vertical downward direction

rad

$\varphi$

The Angle between the pendulum rod and the vertical upward direction

rad