Inverted Pendulum Control

[EvilGenius]

Hi guys, this is our semester project that we've been working on. 
The goal was:
-create nonlinear mathematical model of real physical pendulum (on the video).
-according to measured data estimate parameters of system (viscous, coulomb friction)
-linearize simulation model around equilibrium point and design state control
- apply state control on the real system, states that we cannot measure obtain with use of low pass filter and derivation, state observer and kalman filter
- design simple swing up controller (in progress)
If you are interested in control systems I can post more stuff about it.
Here's the video:

[EvilGenius]

Finally we have finished our project