Mechatronic System Design Applied to Double Inverted Pendulum with Flywheel Actuator
In this paper we study the stabilization problem of double inverted pendulum via wlywheel actuator. The main issue of the paper is whether such system can be stabilized in real conditions or not. It is shown that the answer strongly depends on the structural (geometric and physical) parameters of the system. The paper gives the procedure for optimizing these parameters under specified conditions to obtain the most robust closed loop system.
Zdzislaw Gosiewski and Zbigniew Kulesza
L. Bláha and M. Schlegel, "Mechatronic System Design Applied to Double Inverted Pendulum with Flywheel Actuator", Solid State Phenomena, Vols. 147-149, pp. 272-277, 2009