Identification of eigenfrequency of a movable inverted pendulum

Abstract

In the work, an underactuated dynamical system (a movable inverted pendulum) has been studied. The main goal of the investigation (detection of the value of its eigenfrequency) has been achieved by providing an analysis of the graphical dependencies of inverted pendulum movement. They have been recorded during control procedure of the movable inverted pendulum. A detailed explanation of the procedure is given in the work. Obtained results may be used for the development of a mathematical model of the dynamical system.