Reverse order swing-up control of serial double inverted pendulums

In this paper, we consider a reverse order swing up control of a serial double inverted pendulums. In the reverse order, the second pendulum is swung up first and, after that, the first pendulum is swung up. Reverse order swing-up control has three control steps. We propose a control scheme for each step, and switch the scheme to the next scheme according to the states of the system. A numerical simulation is given to show the effectiveness of the proposed scheme.