The Global Control of First Order Rotary Parallel Double Inverted Pendulum System

Abstract

In this paper, a new kind of first-order rotary parallel double inverted pendulum system is proposed. Based on Lagrange equation, the mathematical model of the double inverted pendulum system is established. According to the different regions of the motion state of the double inverted pendulum system, it can be divided into two modes: swing up control and stable control . An EFC controller based on energy feedback was designed for the upswing mode, and a LQR controller based on linear quadratic was designed for the stable control mode. And the suitable switching control strategy for the whole domain is designed. In the MATLAB/Simulink environment, the effectiveness of the swing up control, stable control and global control scheme of the first-order rotary parallel double inverted pendulum system is verified by simulation experiments.