Synthesis of double inverted pendulum on the cart system on the sliding modes method basis

The possibility of stabilization problem decision of unstable electromechanical double inverted pendulum on the cart system is discussed in this paper. The schematic representation of observable system is pictured and the nonlinear differential equations, describing this system behavior, are presented. The transition to reductive model is realized and the research of its main qualitative properties is made. The algorithm of stabilization on the basis of sliding modes method is formed. Simulation results for the closed loop behavior, made in Mathlab Simulink, are presented.