Abstract
On the basis of the optimal servo theory, this paper discusses the design of the position control system for a double inverted pendulum on an inclined rail. The controller is implemented by a minicomputer to stabilize the double inverted pendulum and can make its position change according to a specified command suppressing the effect of the constant disturbance caused by inclining the rail. The successful experimental results have been obtained and the effectiveness of the state space approach has been shown in the design of the servo controller for a system with constant disturbances and parameter variations.
