The first step to system modeling and control is input selection. 系統建模與控制的第一步是輸入變數選擇。
Generally the inverted pendulum system is modeled as a linear system, and hence the modeling is valid only for small oscillations of the pendulum. 通常倒立擺系統建模成一個線形系統,因此模型只對小幅度擺動的擺才有效。