Swing-Up and Control of Linear Triple Inverted Pendulum [pdf]

Blame the YouTube algorithm for me posting this here :)

Paper, CC-BY 4.0: https://www.mdpi.com/2073-8994/12/5/792 - source: YT comment posted by video author

The author also posted in response to another user's comment that [the]

> Location of the pendulum is determined via 3 values from rotational incremental sensors located in the joints plus 1 linear incremental sensors describing position of the cart.