Swinging-Up of Two Pendulums by Manual Control with Computer Assistance

Abstract

In this paper, we discuss simultaneous swinging-up of two pendulums by manual control.The single control input is applied to two pendulums with different physical parameters.Since the control task is very difficult , we propose a manual control system with computer assistance. The dynamic behavior of the two pendulums is simulated by a digital computer and its animation is shown on a CRT display. The computer generates appropriate signals to assist the human operator and the human operator manipulates the pendulum motions while watching the display.We show that successful experimental results can be obtained by using the proposed manual control system.