The control strength quantification analysis of outer pendulum rod for double inverted pendulum

Due to the complexity of the dynamics characteristics of an inverted pendulum, and the problem that the linearization analyze method cannot satisfy the controlling requirement, a nonlinear dynamics analyze method was proposed. Through decoupling the dynamics model of a double inverted pendulum, the outer pendulum rod motion equation was derived. And then, aiming at the control strength function of outer pendulum rod, the qualitative and quantitative relationship between spatial position of pendulum rod and the control strength of outer rod, and the quantification relationship between dynamics parameters and the control strength of outer rod were separately analyzed. And the simulation verified the correctness of the analysis.