@article{(Open Science Index):https://publications.waset.org/pdf/15312,
	  title     = {An Impulse-Momentum Approach to Swing-Up Control of Double Inverted Pendulum on a Cart},
	  author    = {Thamer Ali Albahkali},
	  country	= {},
	  institution	= {},
	  abstract     = {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.},
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {5},
	  number    = {6},
	  year      = {2011},
	  pages     = {1125 - 1131},
	  ee        = {https://publications.waset.org/pdf/15312},
	  url   	= {https://publications.waset.org/vol/54},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 54, 2011},
	}