Balancing control for double-linked inverted pendulum on cart: simulation and experiment

Abstract

Double-linked Inverted Pendulum, which a Single Input-Multi Output (SIMO), is a highly unstable system and a usual one used for testing and applying control theories. Controlling to stabilize double inverted pendulum is a challenging problem which required a suitable and fast reaction controller. The article presents a solution for stabilizing a double inverted pendulum using a Fuzzy logic controller and a Linear-Quadratic Regulator (LQR) controller. The entire system has been modeled and tested by Matlab/Simulink toolbox. Further, both controllers have been applied to an experimental model in laboratory. Experimental results of stabilizing double inverted pendulum show that with both controllers, the system can be maintained in upright position. However, the LQR controller’s quality in reality is better than the Fuzzy logic controller’s one.