Nonlinear optimal control of a triple link inverted pendulum with single control input

In this paper, a single-input feedback controller for a triple link inverted pendulum is designed using a nonlinear optimization technique. The employment of such a technique appears necessary because the traditional linear design process cannot incorporate the nonlinear dynamics of such system and its physical limitations. The new controller design is formulated as an optimization problem which accounts for the physical limitations and stability criterion of the system as infinite-dimensional nonlinear inequality constraints. Based on the gains generated by such nonlinear optimization technique, a custom-built triple link inverted pendulum is successfully stabilized in real-time experiments.