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Classical dual-inverted-pendulum control

A cart with two independent inverted pendula, called a dual-inverted-pendulum system, is analyzed and compared to the single-inverted-pendulum system using classical linear methods. Using only the angles of the pendula and the position of the cart, a classical controller is designed that stabilizes the pendula in the inverted position with the cart at the center of the track. Simulations of the transient response to initial conditions are presented. Intuitive reasoning and an insightful approach to the control design are major emphases of this effort.