%0 Journal Article
	%A Thamer Ali Albahkali
	%D 2011
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 54, 2011
	%T An Impulse-Momentum Approach to Swing-Up Control of Double Inverted Pendulum on a Cart
	%U https://publications.waset.org/pdf/15312
	%V 54
	%X 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.
	%P 1125 - 1131