A crucial difference is that a 2-link pendulum is a chaotic system. It's much ha... | Hacker News

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		JabavuAdams on Nov 29, 2010 \| parent \| context \| favorite \| on: Unbelievable balancing robot - stabilizes an artic... A crucial difference is that a 2-link pendulum is a chaotic system. It's much harder from a control-theory point of view.

mgw on Nov 29, 2010 [–]

I agree. While the inverted pendulum is fairly straight forward to implement with a PI controller, the 2-link pendulum is quite an accomplishment.

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