Abstract:Aimed at the higher requirement on performance of instability, nonlinear, rapidity of system under complex environment, and more severe problem of shaking and other characteristics of coubling, nonlinearity and one degree of freedom (1DOF) added of doublerotational inverted pendulum as relatively to singlerotational inverted pendulum, one theoretical model was established. One Linear Quadratic Regulator (LQR) controller was designed, which control parameters were determined by tests so as to achieve stability control of the doublerotational inverted pendulum. The simulation results show that under manual disturbance, the realtime changing curve of each state variable shows tracking effect good, and the accuracy of vector angle can reach 10-3 level. The control effect of doublerotational inverted pendulum based on LQR performes more better, which provides the basis for the control problem in related area.