Triple Pendulum on a Cart: Swing-Up and Stabilization

Tobias Glück · Demo · 1 min · 2011 · YouTube title: Triple Pendulum on a Cart

Why it's here

HN commenters cite it as an example of a hard, chaotic control problem that fast feedback and good control design can solve.

What it covers

A TU Wien control-systems demo in which a triple pendulum on a cart is swung up and stabilized using constrained feedforward plus optimal feedback control. It accompanies a 2013 Automatica paper.