A Hybrid Global Optimization Algorithm: Particle Swarm Optimization in Association with a Genetic Algorithm - Complex System Modelling and Control Through Intelligent Soft Computations - page 77

Fig. 19 The block diagram of the linear state feedback controller for a parallel-double-inverted
pendulum for x d ¼½ x 1 ;d ; 0 ; 0 ; 0 ; 0 ; 0

T

Table 19 The values of the
parameters of the system of a
parallel-double-inverted
pendulum

m 0 4.2774 kg

m 1 0.3211 kg

m 2 0.2355 kg

l 1 0.3533 m

l 2 0.0963 m

0.072 kg m 2

H 1

0.0044 kg m 2

H 2

F r 10 Kg/s

C 1

0 : 023 Kg m 2

= s

C 2

0 : 00145 Kg m 2 = s

T

x 0 ¼½ 0 ; 0 ; 0 ; 0 ; 0 ; 0 ð 30 Þ

T

: ; ; ; ; ; ð Þ

x d ¼½ 0 2 0 0 0 0 0 31

50 K 1 150 ð 32 Þ

150 K 2 250 ð 33 Þ