function xdot=Inverted_pendulum_eq(t,x) 
  global g A omega R;

%x(1)=angle
%x(2)=angle time derivative

xdot(1)=x(2);
xdot(2)=1/R*(g-A*omega^2*sin(omega*t))*sin(x(1));

xdot=xdot';