Intelligent transfer and stabilization control to unstable equilibrium point of double inverted pendulum

This study aims at establishing a robust intelligent control method for nonlinear and complicated systems was presented by extending the integrated Cubic Neural Network (CNN) . Several controllers for different local purpose are switched and integrated based on the system purpose according to the situation. In this study only a swing-up controller, three stabilized controllers and the integrator neural network are designed to accomplish three paths to Up-Down equilibrium point. In order to examine the effectiveness of the proposed method, computational simulations and experiments using a real apparatus were carried out.