Swing-up of the double pendulum on a cart by feedforward and feedback control with experimental validation

The swing-up maneuver of the double pendulum on a cart serves to demonstrate a new approach of inversion-based feedforward control design introduced recently. The concept treats the transition task as a nonlinear two-point boundary value problem of the internal dynamics by providing free parameters in the desired output trajectory for the cart position. A feedback control is designed with linear methods to stabilize the swing-up maneuver. The emphasis of the paper is on the experimental realization of the double pendulum swing-up, which reveals the accuracy of the feedforward/feedback control scheme.