@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}, }