Linear Control Schemes for Rotary Double Inverted Pendulum

Minh-Duy Vo 1, Van-Dat Nguyen 1, Dac-Hoa Huynh 1, Trung-Hieu-Duy Phan 1, Tuan-Nam Nguyen 1, Nguyen-Anh-Khoa Dinh 1, Minh-Duc Tran 2, Minh-Tai Vo 2,3,*

1 Ho Chi Minh City University of Technology and Education (HCMUTE)
Vo Van Ngan St., No. 01, Thu Duc City, Ho Chi Minh City, 700000, Vietnam
2 Ho Chi Minh City University of Technology (HCMUT), VNU-HCMC
Ly Thuong Kiet St., No. 268, District 10, Ho Chi Minh City, 700000, Vietnam
3 School of Science, Engineering and Technology, Royal Melbourne Institute of Technology
Nguyen Van Linh Blvd., No. 702, Tan Hung ward, District 7, HCMC, 700000, Vietnam
* Corresponding author. E-mail:

Robotica & Management, Vol. 28, No. 1, pp. 59-67

Abstract: In this article, the rotary double parallel inverted pendulum (RDPIP) is researched and presented. Additionally, some linear controllers, such as PID, PID, PID-LQR cascade, are proposed, developed to control RDPIP, and the impact of those controllers on the rotary double inverted pendulum was examined. The research and simulation results are implemented in the Matlab/Simulink toolbox to prove the ability of these types of controller in balancing this model.

Keywords: Rotary double parallel inverted pendulum, RDPIP, PID-LQR, cascade, LQR..

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