Dynamic models of a rotary double inverted pendulum system

This paper describes the dynamic models of a double rotary inverted pendulum, which has been developed for the laboratory experiments. Two different-length rigid pendulums are connected to a horizontally rotating disc which is attached directly to a DC motor. The derivation of the dynamical equations and the linearized model are described. Finally, the time responses of open-loop system are shown and compared with the experimental data to verify the model validity.