Robust swing up control of double pendulum

Inverted pendulums are typical examples of unstable system and have been used for the verification of designed control systems and/or control education in laboratories. In particular, the control of a double inverted pendulum has been known as a good example to show the power of the modern control theory. In this paper we consider about robust state transfer control method of a double pendulum, i.e., swing up control of the pendulum from the hanging position to the upright position. First, we propose a control method based on a energy principle. Secondly, a more robust control method in which the state transfer is realized through a limit cycle is presented. The effectiveness of the proposed methods is shown by the experiments.