An inverted pendulum system is designed, implemented, and stabilized on a short path. Proportional-
Integral-Differential (PID) control algorithm is embedded on a digital signal processing card to achieve
the stabilization in a real time. DC-motor dynamics of the inverted pendulum system and cart-track
friction are unknown and their effects are taken into account by the incremental duty cycle approach.
Experimental tests, conducted for various experimental conditions, have shown that the inverted
pendulum system reached the desired state in the presence of friction and various external