The mass of the wheel = 0.75 kg

The mass of the inverted pendulum = 0.5 kg

The mass of the connecting rod = 0.2 kg

The coefficient of friction between the wheel and floor

= 0.05 N s/m

The length of the arm = 0.6 m.

A control system is required to keep the angle to minimum.

1. Derive a mathematical model for WIP assuming small angle .

2. Determine the transfer function between the inverted pendulum angle , and the wheel moment M.