The purposes of this research are to formulate the mathematical model of the
system, to propose an effective control scheme and to perform experiments on a laboratory
scale. The system used in this paper consists of a trolley, a pendulum as load and a dc motor to
drive the trolley. Mathematical model of trolley position and load angle were formulated
considering voltage of the motor and damping constant of the air calculated specifically using
energy balance. Two proportional (P) controllers were designed in parallel in such a way to
drive the trolley and to reduce oscillation of the load. The system and the proposed control
scheme were confirmed through experiments. The experimental results revealed that the
motion and oscillation of the system can be controlled effectively.