Optimization method based swing-up control and visual validation for rail length-limited parallel-coupled cart-pendulums system

This paper introduces a rail length-limited parallel-coupled cart-pendulums system which is one of the morphs from the inverted pendulum family. A swing-up control strategy based on optimization algorithm (pattern search) instead of manual tuning has been proposed for such kind of system to swing the pendulums up cooperating with the original stabilizing controller. The blockset-view of the system is presented in Matlab/Simulink. For a clearer demonstration of the feasibility of the strategy, a visual validation is implemented through the VRML 2.0 based 3D animation blocks supplied in Simulink. With the use of the optimization tool along with the dynamic simulation results obtained in Matlab/Simulink, proper swing-up signal parameters will be derived for the system. The proposed swing-up strategy is proved effective under the visual demonstration and the diagram analyses about the simulation results.