A novel parallel-type double inverted pendulum control method

Abstract

Car inverted pendulum system is often used as the benchmark for verifying the performance and effectiveness of a new control method, However, it's very unusual to use parallel-type double inverted pendulum. Based on Lagrange equation, this paper presents a novel state space model for the parallel-type double inverted pendulum system. Also, the paper designs a linear quadratic regulator (LQR) controller with the Lagrange modeling method, Simulation results are presented to demonstrate the feasibility and performance of the proposed model and controller.