Swing-up and stabilization control of twin furuta pendulums by energy control

This paper gives a realization of a swinging up and stabilizing control for a twin furuta pendulums. The twin furuta pendulums has two inverted pendulums which placed at direct drive motor. A control method is a switching of stabilization control and swing-up control. A LQ optimal control is used for stabilization of the pendulums in the neighborhood of upright positions. The effectiveness of the energy control was showed by experimental result. Then, we analyze that the two pendulums simultaneous go to the neighborhood of upright positions. Further, the mechanical structure is evaluated based on the natural angular frequency of each pendulum length and the condition number of controllability matrix of the linearized twin furuta pendulums.