Abstract: The double inverted pendulum is a multivariable, nonlinear, strong-complying system. The fuzzy control theory is introduced to study the controlling problem of the double inverted pendulum in this paper. The dimensions of input varieties of a fuzzy controller are depressed by designing a fusion function using the optimization control theory, and it can reduce the rules of fuzzy greatly. The infection of quantification factors to the effect of control is studied. The quality of the fuzzy controller is improved by adding auto turning quantification factors. Simulation and experiment prove that this fuzzy control arithmetic has the advantages of few rules, fast speed, good stability and good robustness.

Key words: double inverted pendulum, fuzzy control, fusion function, quantification factors