Truong-Phuong-Nam Pham 1, Le-Thao-Nguyen Nguyen 1, Thi-Ngoc-Thao Nguyen 1, Viet-An Le 1, Hoang-Phuc Le 1, Dai-Nghia Le 1, Thanh-Dat Khong 1, Trung-Thang Nguyen 2*
1 Ho Chi Minh City University of Technology and Engineering (HCM-UTE), Vo Van Ngan Street, No. 01, Vo Van Ngan Str. Thu Duc ward, Ho Chi Minh City (HCMC), Vietnam
2 Cao Thang Technical College, Ho Chi Minh City, Vietnam, No. 65, Huynh Thuc Khanh Str., Sai Gon ward, HCMC
* Corresponding author. E-mail: nguyentrungthang@caothang.edu.vn
Robotica & Management, Vol. 31, No. 1, pp. 32-37
DOI: https://doi.org/10.24193/rm.2026.1.6
Abstract: This study presents the experimental implementation of an LQR-based Information Fusion Fuzzy Logic Controller (IF-FLC) for the double inverted pendulum on a cart (DIPC), extending previous LQR and ANFIS investigations. The proposed controller integrates information fusion to condense multi‐state measurements into compact fuzzy indicators, enabling a reduced-rule architecture while preserving essential system dynamics. Through both simulation and real-time experiments, the IF-FLC demonstrates notable improvements in cart stabilization accuracy and steady-state damping compared with conventional LQR and LQR-based ANFIS controllers. While LQR achieves the smallest angular deviations, the IF-FLC significantly lowers cart-position RMSE and reduces control voltage, resulting in smoother, quieter, and more energy-efficient operation. Experimental results confirm that the IF-FLC offers a superior balance between regulation precision and control effort, highlighting its effectiveness as a practical intelligent control solution for nonlinear, underactuated systems such as the DIPC.
Keywords: Double Inverted Pendulum, Single Input – Multi Output System, Fuzzy Logic Control, Information Fusion, Intelligent Control.
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