The objective of this project was to design a controller to successfully stabilize the inverted wooden pendulum attached to our four wheeled car with a belt driven rear axle. In addition to the DC motor that powered the car, there were potentiometers that convert the angle of the pendulum to a voltage value. Earlier in out Control Theory course, we were able to characterize the open loop system in order to determine the system transfer function. However, in this project, the open loop system is unstable, so we had to identify the system model from first principles. First we defined a set of specifications to guide our compensator design so that it is not only stable, but also performs in response to disturbances and errors in our system identification. Read more in the report below