Also, total system’s net torque will equal to sum of net torque of cart and pendulum.Now, linearize above ... pendulum system.Total system’s net force will equal to sum of net force of cart, net force of pendulum, friction ... constant4.9 [Ncm/A]Kbmotor back emf constant0.0507 [V/rad/s]Rmotor resistence0.3 [Ω]Analyzing this nonlinear