Fuzzy control of a double inverted pendulum using two closed loops

A fuzzy approach control using a two closed-loop controller is presented to control a double inverted pendulum system. Two fuzzy controllers are used in the control system to adjust the angles of both pendulums, respectively. Then the controllers and their fuzzy control rules are designed. By this means, the number of the rules is reduced largely, and the design of the controller is simplified. The experiment results on a real apparatus have shown that the scheme is more effective and robust.