A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum.pdfVIP

Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2011, Article ID 970786, 14 pages doi:10.1155/2011/970786 Research Article A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum I. Hassanzadeh,1 A. Nejadfard,2 and M. Zadi3 1 Control Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz 5166616471, Iran 2 Electrical Engineering Department, Tehran University, Tehran 5157747343, Iran 3 Electrical Engineering Department, Tarbiat Modares University, Tehran 5156913547, Iran Correspondence should be addressed to I. Hassanzadeh, izadeh@tabrizu.ac.ir Received 9 August 2010; Revised 5 December 2010; Accepted 7 March 2011 Academic Editor: Maria do Rosario de Pinho ´ Copyright q 2011 I. Hassanzadeh et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This paper considers the design and practical implementation of linear-based controllers for a cart-type double inverted pendulum DIPC. A constitution of two linked pendulums placed on a sliding cart, presenting a three Degrees of Freedom and single controlling input structure. The controller objective is to keep both pendulums in an up-up unstable equilibrium point. Modeling is based on the Euler-Lagrange equations, and the resulted nonlinear model is linearized around up- up position. First, the LQR method is used to stabilize DIPC by a feedback gain matrix in order to minimize a quadratic cost function. Without using an observer to estimate the unmeasur