522 Subspace Control for Multiple Inverted Pendulum System : Part II, Application to a Series-Type Model

Abstract

Swing up control of a serial double inverted pendulum system is an interesting problem because it is a nonlinear and underactuated mechanical system. Generally, each pendulum is swung up to upright position stepwise. But in a control process for stabilizing one pendulum and swinging up the other, two different control inputs interfere with each other. In this report, we propose a new control scheme to swing up a pendulum using resonance of nonlinear system. Also, we verify the effectiveness by numerical simulation.