Nonlinear optimal control of the parallel double inverted pendulum Gerasimos Rigatos Industrial Systems Institute Jorge Pomares University of Alicante Masoud Abbaszadeh Rensselaer Polytechnic Institute Ali Mhmood University of Tikrit HAZEM ALI University of Technology - Iraq Research Article Keywords: parallel double inverted pendulum, nonlinear H-inｦnity control, Taylor series expansion, Jacobian matrices, Riccati equation, global stability, differential ｧatness properties Posted Date: May 22nd, 2023 DOI: https://doi.org/10.21203/rs.3.rs-2953874/v1 License:   This work is licensed under a Creative Commons Attribution 4.0 International License. Read Full License Additional Declarations: No competing interests reported.