Balancing a Rotary Double Inverted Pendulum using Two-loops Adaptive Controller based on Dynamic Inversion Technique

• Main Authors: Shah, M.H.M., Mehedi, I.M., Al-Saggaf, U.M., Milyani, A.H., Saad, N.B., Yahaya, N.Z.
• Format: Conference or Workshop Item
• Published: Institute of Electrical and Electronics Engineers Inc. 2021
• Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85124164409&doi=10.1109%2fICIAS49414.2021.9642673&partnerID=40&md5=39f4e2fe71d355100019ae7126278c7b; http://eprints.utp.edu.my/29186/

Balancing control of a double inverted pendulum is a great challenge as it is an unstable and non-linear system that requires fast control reaction. In this paper, a dynamic inversion controller is proposed for balancing control of a rotary double inverted pendulum system. The controller consists of...