Dynamic Design Variable Optimization of Swing-Up Control about Rotating Double-Inverted Pendulum
Hou Xianglin(1),Dai Li(2)
(1 Shenyang Jianzhu University , Shenyang, 110168) (2 Northeastern University, Sh enyang 110004)

Abstract: Swing-up process of inverted pendulum is extremely non-linear. When a mechanical model and the parameters are determined, it is necessary to seek out an efficient method to calculate the control function. Taken double pendulum as research object, dynamic design variable optimization is proposed to analyze the control function. A new computing program is worked out to obtain the numerical control series. The suggested method is expected to determine the state of deciding control function in non-linear dynamic system.
Keyword: double inverted pendulum, swing up control, dynamic design variables，optimizations.