Abstract
Generally, it is difficult to stabilize and swing up multiple inverted pendulums simultaneously, because control inputs to stabilize pendulums and to swing-up a pendulum interfere with each other. In this report, the subspace control and the swing up method using nonlinear resonance are applied to a triple inverted pendulum system. It is possible to avoid the interference between two kinds of control inputs by using these methods. Furthermore, the optimal condition to switch the control inputs from swinging up step to stabilizing step is proposed and the effectiveness of the proposed methods is verified by numerical simulation.
