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Nonlinear Controller for Fuzzy Model of Double Inverted Pendulums

In this paper a method for designing of nonlinear controller for a fuzzy model of Double Inverted Pendulum is proposed. This system can be considered as a fuzzy large-scale system that includes offset terms and disturbance in each subsystem. Offset terms are deterministic and disturbances are satisfied a matching condition that is mentioned in the paper. Based on Lyapunov theorem, a nonlinear controller is designed for this fuzzy system (as a model reference base) which is simple in computation and guarantees stability. This idea can be used for other fuzzy largescale systems that include more subsystems. Finally, the results are shown. Keywords—Controller, Fuzzy Double Inverted Pendulums, Fuzzy Large-Scale Systems, Lyapunov Stability.