Modeling and simulation optimization of the double inverted pendulum system in modelica

A double inverted pendulum system is a complex, multi-variable, highly nonlinear, strong coupling, and absolute unstable system. At present, the researchers focus little attention on the timecost optimization of swing up the double inverted pendulum from its downward position to the inverted position. Through the rational dynamics analysis of the inverted pendulum system, the optimization model of this system is established based on Modelica language. Using a simultaneous optimization method based on orthogonal collocation on finite elements, the inverted pendulum system under different constraints is simulated and optimized in JModelica.org platform. Result shows that the double inverted pendulum system can swing up stably and quickly.