Practical Swing-up Control System Design of Cart-type Double Inverted Pendulum

This paper describes an RTLinux-based swing-up control system design of a cart-type double inverted pendulum experimental setup. First, 4 steps control strategy for the inverted pendulum system is introduced. Second, for real-time application of the system, RTLinux-based control of first step and second step is mainly concerned, where the proposed control scheme swings up the first pendulum with controlling the motion of a cart and is robust to the second pendulum. Finally, real-time experiment is given to show the effectiveness of the control scheme.