CAD DESIGN AND CONTROL OF TRIPLE INVERTED-PENDULUMS SYSTEM

This work is aimed to study the dynamic behavior and control of the triple invertedpendulumsystem. A nonlinear dynamic model of the inverted-pendulums fixed on a cart,based on CAD model is developed. The Lagrange equation is used to obtain the nonlineardynamic models of the system. The dynamic model is then linearized around operatingpoint. An augmented dynamic model using the linearized model is also derived. Two controlapproaches are used to stabilize the pendulums in vertical position. First approach: StateFeedback Control based on the linearized model is used to generate the input force control tostabilize the system. Second approach: Model Predictive Control is designed based onaugmented dynamic Model to control the motion of the system. In order to verify thedeveloped model and the chosen controller gains several simulations for different carts’paths are carried out. Several 3D animations are also presented to verify the usefulness ofthe designed CAD model and the controllers. As a future work: the 3D model of the tripleinverted-pendulum system gives a valuable resource for virtual reality work. Beside, anotheradvanced control approach can be applied on the derived dynamic model.