Stabilization fuzzy control of parallel-type double inverted pendulum system

A fuzzy controller for stabilizing parallel-type double inverted pendulum system is presented based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model. By using the SIRMs and the dynamic importance degrees, the angular controls of the two pendulums and the position control of the cart are done entirely in parallel, and the priority orders of the three controls are automatically adjusted according to control situations. Simulation results show that the fuzzy controller with a simple and intuitive structure can stabilize completely a parallel-type double inverted pendulum system within 10.0 seconds. This is the first result for a fuzzy controller to realize complete stabilization of a parallel-type double inverted pendulum system.