Robust Swing-Up Control for a Rotational Double Pendulum

Abstract A variant, of the double-inverted pendulum is introduced, and a robust feedback control is presented that, transfers the state between the pendant and the inverted equilibrium manifolds. The control is computed using partial feedback linearization in combination with a “limit-cycle inducing” control. It is shown to be robust with respect to parameter uncertainty. Experimental results support the claims of robustness, and computational simplicity.