Optimal Output Vector Feedback Control Strategy for Double Inverted Pendulum

Abstract

In this paper, a double inverted pendulum system has been studied for the validation of linearization techniques using Jacobean and Euler- Lagrangian equation. The Inverted pendulum system is oscillating vertically on the pivot point and could be balanced by applying torque on their pivot point. Since a double inverted pendulum system is an inherently unstable system with nonlinear system dynamics, its mathematical model has been derived, whereas a normal pendulum system is a stable system. A suitable controller has been designed using an output vector feedback control strategy. The developed linear quadratic regulator is simulated using MATLAB/SIMULINK. The performance of the proposed regulator is tested for different weighting matrices and a disturbance input signals. The controller that proposed using LQR achieved optimal stabilization and highly nonlinear under different disturbance input.