Passivity based control of the double inverted pendulum driven by a linear induction motor

摘要

In this paper, we propose a nonlinear passivity based controller for a double inverted pendulum system, consisting of a two-link pendulum mounted on a pad which is moved by a linear induction motor so that the double pendulum points straight-up. The proposed controller not only can drive the double pendulum from its "natural stable hanging position" to its "unstable upright inverted position" while linear the induction motor's displacement is brought to zero but also can guarantee that the motor with very unique end-effect can achieve servo motion tracking with high performance. Also, computer simulations are provided to demonstrate the effectiveness of the hereby presented controller design.