MOSQUERA MENA, MARCELO EFRÉNMARCELO EFRÉNMOSQUERA MENAFREIRE CARRERA, FAUSTO RODRIGOFAUSTO RODRIGOFREIRE CARRERA2025-10-302025-10-30202597830319934119783031993428https://doi.org/10.1007/978-3-031-99342-8_7The mathematical modeling and control of the inverted pendulum is a fairly extended case study due to the nonlinearity of the system, its inherent instability in the equilibrium position and sensitivity to external disturbances. Numerous variations of this problem exist, as well as approaches for obtaining the model and the design of control strategies. This work proposes the derivation of the mathematical model for a variant of the inverted pendulum capable of rotating about two axes, mounted at the end of a five-bar mechanism. The approach involves certain simplifications and a strategy to decompose the mechanism into decoupled subsystems, resulting in a linearized mathematical model for a subsystem corresponding to each possible rotation of the inverted pendulum.text::book::book part