Stabilization of a Double Inverted Pendulum by Analogue Controller

Abstract The research about the control of an inverted pendulum has “been carried out for a long time. However they failed in using an analogue controller with the structure of reduced order observer and turned to implement the control system with a digital computer. In this paper we for the first time implement the control system with an analogue controller, both in partial order observer and linear functional observer structures. The system is quite stable even under large disturbance and under conditions of artificial parameter variations of the practical model. It has been used for education in the modern control theory experiment and strongly attracts students' interest. Since it is simple and low-cost, it can be used widely in the modern control theory experiment.