Link lengths search using genetic algorithm for stabilization of quintuple inverted pendulum

A quintuple inverted pendulum has strong nonlinearity. It is difficult that a pendulum system consisting multiple links is stabilized by a linear controller in the neighborhood of the upright position. The mass balance of each link plays an important role for the control of pendulum. In this paper, searching the appropriate length of each link for a linear quadratic regulator is investigated using a GA algorithm. In the proposed method, the better link lengths are chosen according to the criteria with the living time of the pendulum around the neighborhood of upright position. The effectiveness of the method is verified from the viewpoint of the region of attraction with the link length decided by the proposed GA method.