The study of swing up and balance control for rotary parallel inverted-pendulum

The paper presents the swing up controllers with pendulums that can be designed separately through the analysis of the nonlinear dynamic model of the pendulum system, It is better to swing up the long link first than to swing up the short link first. So the swing up controllers are designed based on the energy control theory and linear quadratic optimal controllers are used to stable the pendulum system. Swinging up the long link first and then the short link, after the short link has entered the balancing area for both the links in "inverted" status. The effectiveness of the proposed method is shown through the simulations and experiments.