Double Inverted Pendulum System Control Based on Servo Compensator

Control of rotary double inverted pendulum system is studied with the internal model principle. Based on the dynamic characteristics of the given signal variable and the internal model principle, the servo compensator is established. The servo compensator not only can make the angle of the rotary arm follow the given signal variable change, but also can make the rotary double inverted pendulum system asymptotically stable. Then the reduced-order state observer reduces the use of detection devices in the system by estimating other state variables in the system. Finally, the simulation results are used to validate that the designed controller can realize the tracking control with zero steady error.