equation of inverted pendulum model

I want to ask about equation of inverted pendulum model "penddemo" Is there someone who can explain to me about the equality of each Simulink block? I apply it to model the movement of the Segway.

I really hope someone can help me

thank you

[Paulo Silva]

I'm also interested on that, just wish we had proper documentation for it.

[Paulo Silva]

http://www.engin.umich.edu/class/ctms/simulink/examples/pend/pendsim.htm

Answer 1

[Sulaymon Eshkabilov]

Here is the complete documentation on Inverted Pendulum's Simulink model building and how to the model blocks are implemented: http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SimulinkModeling