### Theron Hitchman

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**Triple Pendulum Control**

A few years ago Dr. Tobias Glück from Technische Universität Wien, found that along with his mathematical insights, computers and numerical methods were now fast enough to swing-up and balance a pendulum, on a pendulum, on pendulum on a sliding rail under computer control.

*IEEE CSS Video Clip Contest 2014 Submission*

**Triple Pendulum on a Cart (YT ~1 min.):**https://goo.gl/XkKxHL

*The presented work deals with the swing-up of the triple pendulum on a cart. The swing-up maneuver is accomplished within a two-degrees-of-freedom control scheme consisting of a nonlinear feedforward controller and an optimal feedback controller. Based on a precise mathematical model, the feedforward controller was obtained by solving a nonlinear two-point boundary value problem with free parameters. A time-variant Riccati Controller was developed in order to stabilize the system along the nominal trajectory and an Extended Kalman Filter was used to estimate the non-measurable states. The overall control strategy for the swing-up maneuver was successfully implemented and tested on an experimental test bench. Up to the authors’ knowledge, this is the first contribution so far providing numerical and experimental results of the swing-up maneuver for a triple pendulum on a cart.*

**Paper (open pdf):**https://goo.gl/oT1cQY

Tobias Glück: https://goo.gl/RZtSte

*Here is an easy to follow and graphic explanation of Kalman filters due to Tim Babb, who lives in the San Francisco Bay Area, and is Lighting Optimization Lead for Pixar Animation Studios.*

**Related Post:**https://goo.gl/5X2ZpV

Image: https://goo.gl/nt6jPW

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