Double Inverted Pendulum
A double inverted pendulum is a dynamic system consisting of two pendulums, where the second pendulum is attached to the first pendulum. This tutorial demonstrates the optimal control swing-up and horizontal position translation of the pendulum and cart.
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The motion of the system is governed by a set of equations derived using Lagrangian mechanics. The Lagrangian is the difference between the kinetic and potential energies of the system and is given by: L = T - V where T is the kinetic energy and V is the potential energy. For the double inverted pendulum, the kinetic energy T is given by the sum of the kinetic energies of each pendulum. The potential energy V is the sum of the gravitational potential energies of each pendulum.
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