521 Subspace Control for Multiple Inverted Pendulum System : Part I, Application to a Parallel-Type Model

Abstract

Generelly it is difficult to design control parameters in multiple inverted pendulum system. Because both inputs to stabilize a pendulum in inverted position and to swing up control another pendulum interfere each other. To solve the problem, we propose a swing up method of giving target position to cart and causing nonlinear sympathetic vibration. In addition, we apply the subspace control method to this model in oreder to design the control parameters easily. In this report, we denote the swing up method and verify the effectiveness by numerical simulation.