about design of High Gain observer & sliding mode observer for rotatory inverted pendulum system

hi, I am trying design High gain observer & sliding mode observer for RIP system, I want to build the nonlinear model for RIP system, I have following nonlinear equations

c(alfa ..)−bcos(alfa)*(theta ..)-dsin(alfa)=0

a(theta ..)−bcos(alfa)*(alfa ..)bsin(alfa)*(alfa .)^2+g(theta .)=k*v

how to simulate in matlab ?

Answer 1

[Steve Miller]

This File Exchange submission contains a model of a rotary inverted pendulum: Virtual Hardware and Labs for Controls

https://www.mathworks.com/matlabcentral/fileexchange/100064-virtual-hardware-and-labs-for-controls

--Steve