I have an inverse kinematics model for a double inverted pendulum. There are multiple solutions for each joint angles due to symmetry and I have to choose the appropriate ones. I thought I can use the previous choices and compare them with the current multiple solutions, so I could choose the ones which are closer to the previous ones. However, since the double inverted pendulum moves in in both region at the equilibrium, this aproach does not work. Could you advise me please about the correct way to choose the best solutions from the multiple solutions in inverse kinematics model? I would really appreaciate for your help.