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![PDF] Controlled Lagrangian approach to the stabilization of the inverted pendulum system | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/1be95ad89288c4728856d590f0d59854bbc29df1/3-Figure1-1.png "PDF] Controlled Lagrangian approach to the stabilization of the inverted pendulum system | Semantic Scholar")