Using linearization principle and tools from chronological calculus one establishes
a criteria for stabilization of, usually unstable, equilibrium position of Double Inverted
Pendula when subject an arbitrary fast oscillation. Both, planar and spherical cases are considered.Fundação para a Ciência e a Tecnologia (FCT)Dipartimento di Matematica per le Decisione, Università di Firenze, Itali
