Rotary double inverted pendulum;sim mechanics model

Stabilising a double inverted pendulum about its unstable equilibrium position


Updated Wed, 11 Apr 2007 15:27:03 +0000

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A double inverted pendulum is a non linear control complexity. The aim of the system is to balance a pendulum hinged to another pendulum, which in turn is attached to an arm which is driven by a motor. Here I have made use of an LQR, full state feedback to stabilize the system. The animation of the system is also displayed. Using this approach even triple and higher stages of inverted pendulums can be developed. The system is animated also.

Cite As

Gaurav Nair (2023). Rotary double inverted pendulum;sim mechanics model (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R14
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