Control of Double Rotary Inverted Pendulum using Linear Quadratic Regulator in Simulation

Abstract

Double rotary inverted pendulum (DRIP) is a SIMO complicated nonlinear
unstable model which is developed from one-linked RIP – a classical model in control
engineering. The paper presents method of modelling and development of control for RDIP
system in Matlab/Simulink simulation. In this paper, we present dynamic equations and
LQR controller to balance this system on up-right position. Thence, we investigate stability
of system under this method. The evaluation of the simulation results will show the
effectiveness of the controller on this system.