SWING UP A DOUBLE PENDULUM BY SIMPLE FEEDBACK CONTROL

Grzegorz Kudra, Sergey Reshmin, Jan Awrejcewicz, Grzegorz Wasilewski

A real double pendulum is steered to a neighborhood of
the upper equilibrium position by a simple swing-up feedback control.
The moment of force generated at the suspension point is
used as a control. Good controllability of the pendulum is demonstrated. The
theoretical conclusions and the efficiency of the control algorithms are
confirmed by the experiment.

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