Attitude control of a triple inverted pendulum

Abstract

The paper is concerned with the attitude control of a triple inverted pendulum. The lowest hinge is free for rotation and the torques of the upper two hinges are manipulated not only to stabilize the pendulum but also to control its attitude. The control system is designed by using CAD developed by the author and is realized by a minicomputer. The designed controller is a robust servo controller for a linearized model in the neighbourhood of the upright position of triple inverted pendulum. Experimental results show that the designed controller works satisfactorily.