Swing Up Control of a Double Pendulum

Abstract

Inverted pendulums are typical examples of unstable systems and have been used for the verification of designed control systems and/or control education in laboratories. In particular, the control of a double inverted pendulum has been known as a good example to show the power of the state space approach. Instead of these stabilizations of a pendulum at the upright state, the authors have studied a swing-up control of single pendulum from the stable hanging state to the upright position, which is a control to transfer the state of the system from one equilibrium state to the others. The control problem is a non-linear control problem and it can be a good example to show a power of non-linear control methods. In this paper a control method for the swing-up control of a double pendulum is proposed, and the experimental results show that the proposed method is effective for the control problem.