An energy saving method of stable control of inverted pendulum system when affected by external interference using auxiliary pendulum

This research aims to develop a method to reduce energy consumption when controlling an inverted pendulum system that is affected by external interference. In this paper, the authors use the quasi time-optimal control law and add on an inverted pendulum an auxiliary pendulum to absorb the energy of the external interference effects, to reduce the cost of controlling the energy stable inverted pendulum while ensuring system quality. The quality of the method is demonstrated through simulation results. The effectiveness of this method is shown by comparison with the method of no damping.