Swing-Up and stabilization of a triple pendulum on a movable cart

This video demonstrates the swing-up and stabilization of a triple pendulum mounted on a horizontally movable cart. This system has four degrees of freedom but only a single actuator - the moving cart. The aim is to stabilize all eight equilibrium states.Seven of these equilibrium states are inherently unstable. Nonlinear model based feedforward control and linear time variant state feedback is used to solve this problem.

The project is hosted at the Institute of Control Theory at Faculty of Electrical and Computer Engineering, TU Dresden.

For more information and source code refer to the project homepage.