Stabilization of Rotary Double Inverted Pendulum using robust gain-scheduling control

Development and application of linear parameter varying (LPV) controller for stabilization of upright position on rotary double inverted pendulum (RDIP) is presented. A robust gain scheduling approach is used for LPV controller synthesis. The stabilization problem of RDIP should handle three parameter uncertainties and one external disturbance. Lime-response evaluation shows that LPV controller outperform the LQR especially in terms of control performance and RMSE analysis.