For the rotary configuration, as seen in Figure 2.2, the base of
the pendulum isattached toa horizontal link via a pin joint. The
axis of revolution of the pendulum is collinear withthe long axis
of the horizontal link. The angle of the pendulum link is ?2.
Thehorizontallink is coupled either directly or via gearing to the
motor shaft giving it rotary motion(Quanser, 1996). The angular
position of the rotary link is ?1. The input to thesystem isthe
torque T, applied by the motor.
