Double Inverted Pendulum Stability Control

In this paper, taking the double inverted pendulum as plant, a model-reference adaptable controller (MRAC) is analyzed; a variable structure controller is designed to stabilize the double inverted pendulum. At the same time, the software is developed and the hardware is improved.The main contents of this paper are the mathematical model of the double inverted pendulum system and the emendation of the model; the selection of the reference model; the design of the MRAC; the AD and DA converted; the power amplifier and the PWM drive; the program of control; the simulation of the model-reference adaptable system. At last, the double inverted pendulum is controlled stably by variable structure control, and the result of system is discussed.