Mathematical Modelling of a Controlled Cart on Horizontal Pivoting Beam.

Use Newtons Laws to derive equations of motion for the system. This should be converted into transfer functions for input into MATLAB/SIMULINK.

The system consists of a motorised trolley on a see-saw, see attached figure. The trolley motor is to be controlled and eventually the trolley must balance the beam. A potentiometer senses the angle of the beam at the centre, and relates this to the required direction of travel for the trolley.

To re-iterate, full derivation of equations of motion (Newton) and their corresponding Transfer functions are needed.