Application of multistage fuzzy control to a double inverted pendulum

For the traditional fuzzy control to stabilize a MIMO system, the number of fuzzy rules will increase exponentially with the increasing of the input variables. The multistage fuzzy control is introduced to deal with the problem of explosion of fuzzy rules for a MIMO system. The number of fuzzy rules and the complexity of fuzzy controller design are induced largely based on the multistage structure. And it is easy to capture human expertise. A multistage fuzzy controller is designed and utilized to stabilize a double inverted pendulum as a typical MIMO system. The satisfied performance is obtained. The result of real time control shows that the multistage fuzzy control is effective and robust for a MIMO system.