Control of double inverted pendulum with elastic joint

Abstract

Deals with the modeling of a flexible inverted pendulum. The mathematical model of the controlled object used is a simplified one, which is approximated by rigid links and springs. The possibility of driving a simplified model of the flexible inverted pendulum using a double inverted pendulum with an elastic joint is studied. The experimental results show that the simplified model is sufficient to describe the flexible inverted pendulum, but with some modeling and identification errors. These uncertainty will excite the vibration. An H/sub infinity / control to stabilize the flexible inverted pendulum using the simplified model is presented.<>