Table 3 Measured model parameters for a double inverted pendulum
| Parameter | Value | Parameter | Value | ||
|---|---|---|---|---|---|
| \(m_1\) | 0.25 kg | \(k_1\) | Approx. 9.38 | Nm/rad | |
| \(m_2\) | 0.20 kg | \(b_1\) | Negligible | Nms/rad | |
| \(l_1\) | 0.53 m | \(k_2\) | Approx. 1.88 | Nm/rad | |
| \(r_1\) | 0.27 m | \(b_2\) | Negligible | Nms/rad | |
| \(r_2\) | 0.23 m | ||||