Block diagram feedback control of cart and inverted pendulum

Published: 21/05/2019
Block diagram feedback control of cart and inverted pendulum
Source: ELECTRONICS.STACKEXCHANGE.COM

I am making a block diagram for a classic control theory problem; the inverted pendulum on a moving cart. I want to model two types of disturbances on the system; force on the cart and another force on the pendulum. I have 3 questions: I am confused about the positioning of the disturbance forces in the block diagram, so i made both to illustrate my problem clearly. But which one is correct and wh

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