Derivation of a Markovian Controller for an exo-skeleton by overcome the benchmarks of a single and double inverted pendulum

We discuss the application of a Markovian Jump linear System (MJLS) for the control of the single and double inverted pendula. We discuss the fundamental behavior of such a controller and take a closer look at robustness and performance and compare this controller with a Linear Quadratic Regulator (LQR). The results included serve the purpose for further investigation of this controller in a real application, such as an exoskeleton for rehabilitation treatment.