Stabilizing Control of a Triple Type Inverted Pendulum System Based on the Loop Shaping Design Procedure

Abstract

Inverted pendulum system is one of the most well-known equipment in the field of control engineering. In this paper, we introduce a success trial of stabilizing control of a triple type pendulum system which consists of a motorized cart and three pendulums connected in series. We synthesize a stabilizing controller based on the Loop Shaping Design Procedure and weighting parameters in the design procedure are decided by numerical search method.