Abstract: A method of controlling double inverted pendulum was presented in this paper. Chaos optimisation linear quadratic controller based on the dynamic performance index was proposed, in order to solve the choice of weighting matrix problem in LQ control multi-variable. The controller designed by the approach can satisfy the performance index of linear quadratic. The real-time control curves of the double inverted pendulum show that this method not only own characteristics of ctuick speed, but also solve the problem of serious nonlinear and absolutely unstable.

Key words: Chaos,LQ control,Double inverted pendulum,Performance index,Experiment