Скачать или смотреть Inverted triple pendulum on a cart (swing-up and swing down)

Ingenious feedback control algorithm fights gravity.

The inverse triple pendulum is an attractive example of an underactuated mechanical system.

Control algorithm has been implemented in REXYEGEN (https://www.rexygen.com).

The cart is controlled by a feedback control law to suppress natural chaotic movements of a triple pendulum. Data transmission from arms' rotation sensors is provided by RETIS real-time wireless system.

The model is suitable for research and education in the field of nonlinear control theory.

For more information, please visit:
English: https://www.rexcontrols.com/triple-in...
Czech: https://www.rexcontrols.com/cs/trojit...

http://www.rexcontrols.com/articles/c...