Trajectory regulation of a double pendulum using a nonstationary LPV approach

The paper focuses on the control of a double pendulum about an eventually time-invariant trajectory. A vessel containing fluid is rigidly attached to the end of the second link. The mass of the fluid varies in time and, together with its rate of variation, is available for measurement during plant operation. In this note, we develop a nonstationary linear parameter-varying (NSLPV) controller which ensures accurate trajectory tracking despite certain disturbances and uncertainties.