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The aim is to develop a systematic approach for controlling a flexible inverted pendulum using multibody dynamic modeling.

Multibody dynamic modeling and control of a flexible inverted pendulum

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The aim is to develop a systematic approach for controlling a flexible inverted pendulum using multibody dynamic modeling.
Developed a model of the flexible inverted pendulum as a multibody system with rigid segments and spring connections.
Derived a nonlinear dynamic state space model using Lagrange's equations.
Designed a control system using a linear-quadratic regulator and a Kalman filter state observer.
Simulated the dynamic behavior using Simscape tools.
The control system effectively stabilizes the flexible inverted pendulum.
Increasing the number of rigid bodies improves the control performance of the multibody system.

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Develops a control approach for a flexible inverted pendulum, indicating improved performance with more rigid bodies.

Sheikhbahaei et al. (2026) studied this question.

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