The base of the pendulum oscillated vertically. This makes up equilibrium point stable.
Note: frequency is oscillation is big, on the video it is small because of aliasing.
see formulas.jpg for derivative the motion equation using lagrangian mechanics
Maxim Vedenyov (2022). Inverted pendulum with oscillated base (https://www.mathworks.com/matlabcentral/fileexchange/33923-inverted-pendulum-with-oscillated-base), MATLAB Central File Exchange. Retrieved .
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