An inverted pendulum cart modeled using the bond graph approach

This paper shows the use of the Bond Graph approach to model an inverted pendulum cart and to obtain the state space matrices for the conventional designing of PID controllers. The system dynamic model obtained by the Bond graph approach is the same as obtained analytically using the Lagrange's Method, but without the need to work with differential equations. In addition, a PID controller was designed and analyzed using software tools to show that this controller works well to stabilize one state variable, but it is not useful to stabilize all four state variables in the system.