Digital control of a double inverted pendulum on an inclined rail

Katsuhisa Furuta, Hiroyuki Kajiwara, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

91 Citations (Scopus)


A digital control system to control a double inverted pendulum on a cart is presented, where the cart is placed on an inclined rail and is to be kept in position at a given reference point. The controller design is based on linear servo control theory and can control the cart position of the inverted pendulum, eliminating the effect of the rail incline. Theoretical analyses of tho pendulum and of the control system arc given.

Original languageEnglish
Pages (from-to)907-924
Number of pages18
JournalInternational Journal of Control
Issue number5
Publication statusPublished - Nov 1980
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications


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