TY - JFULL AU - Thamer Ali Albahkali PY - 2011/7/ TI - An Impulse-Momentum Approach to Swing-Up Control of Double Inverted Pendulum on a Cart T2 - International Journal of Mechanical and Mechatronics Engineering SP - 1124 EP - 1131 VL - 5 SN - 1307-6892 UR - https://publications.waset.org/pdf/15312 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 54, 2011 N2 - The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto- rest maneuvers of the first link about its vertically upright configuration while holding the cart fixed at the origin. The rest-torest maneuvers are designed such that each one results in a net gain in energy of the second link. This results in swing-up of DIPC-s configuration to the region of attraction of the desired equilibrium. A three-step algorithm is provided for swing-up control followed by the stabilization step. Simulation results with a comparison to an experimental work done in the literature are presented to demonstrate the efficacy of the approach. ER -