Abstract
This study aims at establishing a robust intelligent control method for nonlinear and complicated systems. In the method, an integrator neural network acquires optimum switching and integration of several controllers for a different local purpose by calculating the fitness function using the genetic algorithm. The proposed method is applied to an equilibrium point transfer and stabilization control of a double pendulum that possesses four equilibrium points. In order to verify the effectiveness of the proposed method, simulations and experiments were carried out. As a result, it was demonstrated that the proposed controller can transfer and stabilize the double pendulum from the arbitrary equilibrium points to one of unstable equilibrium points, that is, Up-Up without touching the cart position limit.
