Analysis and experiment on simultaneous swing‐up of a parallel cart‐type double inverted pendulum

This paper considers experimental study and analysis on simultaneous swing‐up control of a parallel cart‐type double inverted pendulum. The proposed controller includes both a swing‐up controller based on weighted energy related function and a cart travel controller designed by a pole assignment control scheme. The cart travel controller can restrict cart travel during the swing‐up. When the two pendulums are swung up, the controller will be switched to a stabilizing controller, and the controller can take the cart to the initial position. Control simulation and experiment were successfully conducted. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society