  This paper presents the control and stabilization of the rotary inverted
pendulum based on a general controller scheme. The proposed scheme has its
foundation in classical control theory, and the importance of an integrator in
disturbance rejection is emphasized. The system's dynamics are obtained by the
Euler Lagrange method and are approximated for small-angle as balancing the
pendulum is the objective. Experimental results demonstrate that the proposed
control scheme can achieve the stabilization of a non-linear system. Also, the
boundedness and convergence of the non-linear system with the controller
subjected to the initial condition are validated.
