Swing-up controller design for cart-type double inverted pendulum
小车二级摆摆起控制器设计

This paper presents experimental results of swing-up controller designs for a parallel cart-type double inverted pendulum and a serial cart-type double inverted pendulum.The proposed control scheme for the two kinds of cart-type double inverted pendulum involves two steps:1) to swing up the two pendulums,2) to stabilize the two pendulums around the unstable equilibrium state.Since the pendulums are cart-type,this paper gives an analysis of traveling distance of the cart and the proposed controller also includes a controller to restrict the traveling distance of the cart.Experiments presented include the above two steps for each cart-type double inverted pendulum.