Rotational double inverted pendulum

Date of Award


Degree Name

M.S. in Electrical Engineering


Department of Electrical and Computer Engineering


Advisor: Raúl Ordóñez


The thesis deals with the stabilization control of the Rotational Double Inverted Pendulum (RDIP) System. The RDIP is an extremely nonlinear, unstable, underactuated system of high order. A mathematical model is built for the RDIP with the Euler-Lagrange (E-L) equation. A Linear Quadratic Regulator (LQR) controller is designed for this system and its stability analysis is presented in the Lyapunov method. We re-develop the Direct Adaptive Fuzzy Control (DAFC) method in our case for the purpose of exploring the possibility to improve the performance of the LQR control of the system. The simulation results of these two control schemes with their comparative analysis show that the DAFC is able to enhance the LQR controller by increasing its robustness in the RDIP control.


Double pendulums Stability Simulation methods, Fuzzy logic Industrial applications, Fuzzy systems Simulation methods, Design; electrical engineering; double inverted pendulum; LQR; adaptive fuzzy control

Rights Statement

Copyright © 2013, author