Fuzzy control of a physical double inverted pendulum model

This paper deals with the design of a fuzzy controller for a double inverted pendulum (DIP). The DIP model used is based on the Lagrange - Euler equation. Various design methods are described where the hierarchical approach is chosen for the controller design. The whole problem is decomposed into two hierarchical levels. The higher level serves as a supervisor which enables broader criteria to be taken into consideration, which is necessary for the control strategy of such a system. The Matlab Fuzzy Logic Toolbox was used for the algorithm implementation and the control quality evaluation of the performed experiments.