Stabilization of Double Inverted Pendulum on a Cart by using Integral-Input-to-State-Stability Concept

S. Afkhami, P.J. Maralani, and M.J. Yazdanpanah (Iran)


Double Inverted Pendulum, Integral-Input-to-State Stability, Stabilization


This paper considers the nonlinear control design for the double inverted pendulum (DIP) system that belongs to the class of underactuated mechanical systems. The controller is studied here based on integral-Input-to-State Stability (iISS) concept. It drives the DIP into a region of attraction around the unstable up-up position. The simulation results show the effectiveness of the proposed nonlinear design method for the DIP system.

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