inverted pendulum model with equation

Hi, i'm looking for a simple model of inverted pendulum in simulink with the equation. Thank u in advance.

[Walter Roberson]

https://www.mathworks.com/matlabcentral/answers/?term=tag%3A%22inverted+pendulum%22

https://www.mathworks.com/matlabcentral/answers/222668-inverted-pendulum-modelling-in-state-space

[Walter Roberson]

https://www.mathworks.com/matlabcentral/answers/375222-coupled-second-order-differential-equations