Linear Control Schemes for Rotary Double Inverted Pendulum

Abstract

In this article, the rotary double parallel inverted pendulum (RDPIP) is researched and presented. Additionally, some linear controllers, such as PID, PID, PID-LQR cascade, are proposed, developed to control RDPIP, and the impact of those controllers on the rotary double inverted pendulum was examined. The research and simulation results are implemented in the Matlab/Simulink toolbox to prove the ability of these types of controller in balancing this model.

Keywords

• rotary double parallel inverted pendulum
• rdpip
• pid-lqr
• cascade
• lqr