Design and optimization of multi-modal controller for double inverted pendulums

This paper presents a novel hybrid approach for the design and optimization of multi-modal controller for cart-type double inverted pendulums. The presented approach divides the motion of a cart-type double inverted pendulum into four phases, including the initial oscillation phase, swing-up phase, adjustment phase, and balance phase. In addition, the presented approach integrates PID controllers, LQRs, the Taguchi method, and a genetic algorithm to design a multimodal controller and optimize the parameters of the controller.