6、onics,lightindustryandatomicenergysectors.The inverted pendulum is a typical high order system, with multi variable, non-linear, strong-coupling, fleet and absolutely instable. It is representative as an ideal model to prove new control theory and techniques. During the control p
7、rocess, pendulum can effectively reflect many key problems such as equanimity, robust, follow-up and track, therefore.This paper studies a control method of double inverted pendulum . First of all, the mathematical model of the double inverted pendulum is established.Themake a co