Double Inverted Pendulum System Control Based on Internal Model Principle

The internal model principle is used to study the tracking control problem of the rotary double inverted pendulum system. According to the dynamic characteristics of the given signal, the servo compensator and the augmented system are constructed. Then, the tracking control problem is transformed into the optimal control problem, and the feedback control law is calculated by the optimal control theory. A reduced-order state observer is established to estimate the state of the controlled signal by the known state vectors. And it reduces the use of detection devices in the system. The simulation results of the rotary double inverted pendulum system show that the upper pendulum angle can follow the given signal variable change without steady error. Meanwhile, the system has good dynamic performance.