Acceleration control approach of double inverted pendulum system

A double inverted pendulum is an example of a balancing robot. It is a non-linear, structurally unstable dynamic system that represents a classic problem in control theory. Studies of this type of systems led to design and development of self-balancing vehicles such as Segway HT or hoverboard. The purpose of presented work was to design, build and create control algorithms of the double inverted pendulum on a cart. To enable infinite rotational movement of the upper pendulum, the transmission wires were routed via a slip ring. In order to determine the pendulum control law, the physical and mathematical model of the pendulum was created. It was also decided to use a kinematic control approach instead of a commonly use dynamical approach. The mentioned controller has been tested on the built system.