A digital control system to control a double inverted pendulum on a cart is presented, where the cart is placed on an inclined rail and is to be kept in position at a given reference point. The controller design is based on linear servo control theory and can control the cart position of the inverted pendulum, eliminating the effect of the rail incline. Theoretical analyses of tho pendulum and of the control system arc given.
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications