This pendulum system consists of a cart with a joint connected to the pendulum. Components from the MultiBody library have been used for the cart and pendulum and components from the translational and rotational mechanical library have been used to model friction. The cart can only be moved in a fixed horizontal motion.

To be able to control the pendulum, the position of the cart, x, and the pendulum angle, phi, is measured. The movement of the cart can be controlled via a force, F, using the flange input.