雙連桿倒單擺系統為一不穩定系統，其機械結構並不複雜，故適用於驗證各種控制理論。雙連桿倒單擺系統是由兩個同一平面運動的連桿所組成，其控制目的為由直流伺服馬達驅動連桿一帶動連桿二作甩上運動與倒立平衡控制，這種系統和車與桿倒單擺及旋轉式倒單擺系統最大的差異在於力矩的變化，車與桿倒單擺系統及旋轉式倒單擺系統的力矩大小變化不會隨位置的變化而變動，但雙連桿倒單擺系統會隨轉動角度的大小而力矩有所變動，使得本系統在平衡控制與甩上控制更具困難。 本篇論文的平衡控制器是使用最佳控制理論來完成、甩上控制器分別使用以能量為基礎之控制及部分回授線性化控制這兩種方法來完成。

The double link inverted pendulum system is an unstable system. The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes. Double link inverted pendulum system has two links moving on the same plane. The control objective is to swing up and then keep the link-2 at upright position (Top & Middle) through swing of the link-1 driven by a DC motor. From system torque point of view, this system is different from the car-pole inverted pendulum and rotary inverted pendulum system. For the car-pole inverted pendulum and rotary inverted pendulum system, the torque exerted on the pendulum arm by the car or rotary arm is independent on the motion position, but the torque of the double link inverted pendulum system exerted on the link-1 by the link-2 is dependent on the angle between the vertical line and link-2. Such foregoing characteristics will create much more difficulty to the control process. In this thesis, the balance controller is based on LQR control law, and the swing up controller adopts energy based control scheme and partial feedback linearization control scheme.

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