This video presents the closed-loop swingup and stabilization of a quintuple inverted pendulum. The two-degree-of-freedom structure is used for a simulation experiment in Matlab/Simulink. First, the reference control input and trajectories are computed and used for the feed-forward term of the control structure. The feedback term is then designed as the time-variant linear quadratic controller for the trajectory tracking.
![](https://i.ytimg.com/vi/WwR92kx6tcA/maxresdefault.jpg)