Stabilization of the double inverted pendulum based on discrete-time model predictive control

The double inverted pendulum is an absolute unstable, high-order, multi-parameter, less-driven and nonlinear system. To stabilize the inverted pendulum, the incremental mathematical model of this system is built based on the Lagrangian mechanics. The discrete-time model predictive control based on the Laguerre series is a new novel control technology, which uses Laguerre series to represent the trace of control signal in the future and optimizes the trace simultaneously. What´s more, the technology can bring in the digital integral factor in the control system to improve the ability of anti-interference. So it is applied to stabilize the double inverted pendulum. The simulation experiment shows that the control strategy is effective and practical.