In order to effectually validate the ability of biped dynamic walking for the gorilla robot "GOROBOT", based on dynamics of three-dimensional inverted pendulum model in the single leg support phase, the COG (Center Of Gravity)’s trajectory equation of the robot was educed through the law of the ZMP trajectory reasonably being defined as a cosine curve.

This paper sets up a mathematical model of triple inverted-pendulum in the first place,and linearize it at the balance point,then control rules are deduced using the quadratic optimal control theory.

Robust control based on sliding mode for a triple inverted pendulum;

By now, little research of triple inverted pendulum are made because of its complex structure and no nonlinear model, which limit the application of intelligent control algorithms in the system; Therefore, the paper presents the hardware structure of triple inverted pendulum control system and the mathatical mode and the system construction of triple inverted pendulum was analysed .

The typical application of this theory is to stabilize the Inverted Pendulum, especially, the triple inverted pendulum by a single motor.

The development of control theory and strategies on triple inverted pendulum system (TIPS) could facilitate not only to the development of control theory but also to the real control technology in practice.

The Lagrangian equations are chosen to es-tablish the nonlinear mathematical model of the triple inverted pendulum system,and then the model is linearized in its equilib-rium point and the control law by using LQR(Linear Quadratic Regulator)optimal control theory is acquired.