CAD DESIGN AND CONTROL OF TRIPLE INVERTED-PENDULUMS SYSTEM

Abstract

This work is aimed to study the dynamic behavior and control of the triple invertedpendulum
system. A nonlinear dynamic model of the inverted-pendulums fixed on a cart,
based on CAD model is developed. The Lagrange equation is used to obtain the nonlinear
dynamic models of the system. The dynamic model is then linearized around operating
point. An augmented dynamic model using the linearized model is also derived. Two control
approaches are used to stabilize the pendulums in vertical position. First approach: State
Feedback Control based on the linearized model is used to generate the input force control to
stabilize the system. Second approach: Model Predictive Control is designed based on
augmented dynamic Model to control the motion of the system. In order to verify the
developed model and the chosen controller gains several simulations for different carts’
paths are carried out. Several 3D animations are also presented to verify the usefulness of
the designed CAD model and the controllers. As a future work: the 3D model of the triple
inverted-pendulum system gives a valuable resource for virtual reality work. Beside, another
advanced control approach can be applied on the derived dynamic model.