Boubaker Olfa Boubaker & Iriarte Rafael Iriarte 
Inverted Pendulum in Control Theory and Robotics 
From theory to new innovations

The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is also an area of active study, with many new innovations and applications — for example the problem is solved in the technology of the Segway, a self-balancing transportation device.