The Global Motion Control of First-order Rotary Parallel Double Inverted Pendulum

The inverted pendulum system is a common object of study in the field of control, and it has high theoretical value for control theory research and engineering practical application. At present, the research on first-order single inverted pendulum system is relatively perfect, while there is less research on the stability and servo control of first-order rotary parallel double inverted pendulum system, and the existing research results are mostly digital simulations, and few physical experimental results are seen. Therefore, this paper conducts in-depth research on the first-order rotary parallel double inverted pendulum experimental system, establishes the systematic mathematical model based on the Lagrange equation, identifies the parameters of the physical system, applies the energy method and sliding mode variable structure control theory to realize the “global motion control” of swinging up, stabilizing and position servo, verifies the effectiveness of the proposed control scheme through MATLAB simulation and physical experiments.