Design, modeling and parameters identification of rotary-type double inverted pendulum

Abstract

This presents the mechanical design of Rotary-type Double Inverted Pendulum(RDIP), which broadly have been applied in control engineering. However, there exists dynamic modeling error in studies of RDIPs that apply a single scalar of moment of inertia for mechanical links instead of using full inertia tensor. To investigate the effect of such incomplete dynamic modeling, the dynamic model of RDIP is completely derived with full inertia tensor by using Euler-Lagrange approach and optimally identified for model parameters, then the simulated result of the model is compared to the incomplete dynamic modeling and experimental data.