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.