The programming of a new type of logic into a controller. The controller can process field data and make decisions on what the object of the controller can do.
An inverted pendulum has its center of mass above its pivot point. 3D linear is a model for bipedal walking patterns. Additionally, in a 3D linear inverted pendulum, motion is constrained to maneuver on an unpredictable defined plane.
Perturbation is when an outside influence causes the divergence of a moving object or process from its regular path.
Gravitational Acceleration Vector is when gravity causes an object to accelerate. When gravity causes accelerations, it's called a vector because it has both direction and magnitude.