%0 Journal Article
	%A I. Zamani and  M. H. Zarif
	%D 2007
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 10, 2007
	%T Nonlinear Controller for Fuzzy Model of Double Inverted Pendulums
	%U https://publications.waset.org/pdf/10980
	%V 10
	%X 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 large- scale systems that include more subsystems Finally, the results are shown.

	%P 1596 - 1602