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Double Furuta pendulums, we named, has a structure that two rotational inverted pendulums are placed at both ends of a single driving arm. This paper presents a swinging-up and stabilization of double Furuta pendulums. As a control strategy, energy-based control design is utilized for swinging up from the pendant positions. Optimal control or nonlinear optimal control with SDRE (state-dependent Riccati...
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