Koelewijn, Patrick J. W.Patrick J. W.KoelewijnCisneros, Pablo S. G.Pablo S. G.CisnerosWerner, HerbertHerbertWernerToth, RolandRolandToth2019-04-252019-04-252018-11-23IFAC-PapersOnLine 26 (51): 49-54 (2018)http://hdl.handle.net/11420/2478A linear parameter varying (LPV) optimal L2 gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.en2405-89632018264954Elsevierhttps://creativecommons.org/licenses/by-nc-nd/4.0/TechnikJournal Article10.15480/882.347110.1016/j.ifacol.2018.11.16910.15480/882.3471Journal Article