time(s) 10 time(s) 0.5 10 12 16 18 e(s) 16 18 time(s)0 2 4 6 8 10 12 14 16 18 20 -0.2 0 0.2 time(s) Angle 0 2 4 6 8 10 12 14 16 18 20 -0.5 0 0.5 1 time(s) Angle rate 0 2 4 6 8 10 12 14 16 18 20 -0.5 0 0.5 time(s) Cart position 0 2 4 6 8 10 12 14 16 18 20 -0.5 0 0.5 time(s) Cart rate