6、dulum 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 process, pendulum can effectively reflect many key problems s
7、uch 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 control design to double inverted pendulum on the mathematical m