Optimal control of a double inverted pendulum by linearization technique

Double inverted pendulum is a standard pendulum which is tested and used for validation for various control algorithm. It is an inherently unstable system with nonlinear system dynamics. In this paper an optimal controller is designed using linear quadratic regulator technique by choosing appropriate performance index. The mathematical modeling of this system is derived using Euler — Lagrangian equation that is determine by the difference between the potential and kinetic energy. The modeled system is non-linear in nature which is linearized using Jacobian. The proposed optimal controller is simulated using MATLAB/SIMULINK The presented study successfully exhibits complete stabilization around the disturbance input signal.