Development of a parallel inverted pendulum system and its control

We develop a parallel inverted pendulum system that has the characteristics of the strongly coupled dynamics of motion by an elastic spring, the time-varying system parameters, and inherent instability, etc. Hence, it is possible to approximate some kinds of a physical system into this representative system and apply the various control theories to this system in order to verify their fidelity and efficiency. For this purpose, an experimental system of the parallel inverted pendulum is implemented, and a control scheme using the eigenstructure assignment in the decoupling control is presented in comparison with the LQR optimal control method. Furthermore, this system can be utilized as a testbed to develop and evaluate new control algorithms through various setups. Finally, results of the experiment are compared with those of numerical simulations for validation.