Stabilization of Double Inverted Pendulum on Cart: LQR Approach
Parameter identification and optimal control of a double inverted pendulum using LQR approach are presented.
The mechanical model of the system was derived by the Lagrangian method, and the parameters were identified via the
energetic description of the system. The model of the system was developed and experimental results verified stability and
recovery of the system by applying impact disturbance.
Keywords: Optimal Control, LQR, Parameter Identification, Double Inverted Pendulum