  This paper presents an alternative way to the dynamic modeling of a
rotational inverted pendulum using the classic mechanics known as
Euler-Lagrange allows to find motion equations that describe our model. It also
has a design of the basic model of the system in SolidWorks software, which
based on the material and dimensions of the model provides some physical
variables necessary for modeling. In order to verify the theoretical results,
It was made a contrast between the solutions obtained by simulation
SimMechanics-Matlab and the system of equations Euler-Lagrange, solved through
ODE23tb method included in Matlab bookstores for solving equations systems of
the type and order obtained. This article comprises a pendulum trajectory
analysis by a phase space diagram that allows the identification of stable and
unstable regions of the system.
