SimMechanics model and LQR control for linear double inversed pendulum based on kalman filter

On the basis of the physical model of linear double inversed pendulum, firstly, this paper establishes nonlinear model of it with SimMechanics toolbox of Matlab, and combined with LQR optimal control method based on Kalman filter to design the controller and state observer, finally, inhibit existing system noises and observation noises effectively, In addition, it realizes stability control of the linear double inversed pendulum.