Abstract
As a typical control subject, inverted pendulum systems have been used to investigate effectiveness and feature of control methods. In this report, we applied a subspace control and swing up control based on Jacobian elliptic functions to swing up and stabilize a serial double inverted pendulum system. For swinging up pendulum, energy control is a most popular method now. On the other hand, we propose to cause a nonlinear resonance in order to swing up pendulums easily. The effectiveness of new swing up technique is verified by numerical simulation.
