Fuzzy control of a double-inverted pendulum

Abstract A high-accuracy and high-resolution fuzzy controller is designed to stabilize a double-inverted pendulum at an upright position successfully. A new idea of dealing with multivariate systems is described. The composition coefficient is gained by combining the fuzzy control theory with the optimal control theory. The fuzzy control rules of a double-inverted pendulum are given and a powerful fuzzy decision way is described to divide the output in a more delicate stage; thus, a high-resolution fuzzy controller is obtained. These methods and the controller have been used in a real system and a real-time control.