Modern Control Engineering · Course document · May 2025
Analysis and Design of a Double Inverted Pendulum System
Course project for Modern Control Engineering. Starting from the nonlinear dynamics of a double inverted pendulum, the report builds a state-space model, checks stability, controllability, and observability, and designs state-feedback control with full- and reduced-order observers in MATLAB and Simulink.20-page PDFMATLAB R2024aSimulink
A double inverted pendulum falls over without active control. For this project, I derived a linear state-space model around the upright equilibrium, then used state feedback and observers to stabilize it. The report records the analysis and the MATLAB/Simulink checks step by step.
The report is kept in its original Chinese and includes the full MATLAB source code in the appendix.
What the report covers
- State-space modeling and characteristic-polynomial stability analysis
- Controllability and observability tests
- Zero-input state response
- Pole placement, state-feedback control, and Simulink validation
- Full- and reduced-order observer design with closed-loop simulation
Read the full report
The original 20-page PDF is embedded below.