Down-down to down-up control of a circular-rail double inverted pendulum with human simulated intelligent control

20 years has passed since the prototype algorithm of Human Simulated Intelligent Control (HSIC) was brought out in 1979. A basic HSIC theory system and the systematical design method have formed, and successfully applied in many fields, especially in the nonlinear control of a Double Pendulum System. A Multi-Pendulum System (MPS) is a typical nonlinear, multi-variable, strong-coupled and under-actuated, complex system. The study on a MPS has been a hotspot in the field of automation control. The successful application of HSIC in swing-up and handstand control on a DPS adequately testified the validity of HSIC theory. This paper will focus on two topics: (1) structural design of controller for swinging up a circular-rail double pendulum (CDP) form its down-down equilibrium position to down-up equilibrium position (DD2DU); (2) real-time adjustment of controller parameters.