Abstract
A laboratory process serving as a demonstration object in education and research on the field of modern control theory is presented. Modern control theory is used to regulate a double pendulum hinged to a cart on a rail. In contrast to foregoing reports on this well-known experimental system, solely one angle of the double pendulum is measured. Moreover, the cart-pendulum system is stabilized in all of its four equilibrium points. A model reference control of the cart attenuates the influence if the position-dependent friction on the rail. The cart-pendulum system is controlled by linear observer-based state variable feedback. Experimental results are presented.
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