T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum

Table 1

Parameters of the double inverted pendulum system.

Parameters and value	Description
	Mass of the first pendulum
	Mass of the second pendulum
	Length of the first pendulum
	Length of the second pendulum
= 9.81 N/kg	Coefficient of the gravity
	Inertia moment of the first pendulum
	Inertia moment of the second pendulum
	Rotation angle of the first inverted pendulum
	Rotation angle of the second inverted pendulum
	Applied torque on the second pendulum (the upper part)