After some training, human operators can manually control very unstable objects when some proper information is given. But they can hardly explain how they do it, because they operate them intuitively and not logically. In this paper, we study the human behavior during the control of a double inverted pendulum and identify its control rules experimentally. The motion of a double inverted pendulum is simulated by a micro-computer and some of the state variables are indicated on a CRT, observed by a subject, and controlled on a keyboard. In order to find which information is used by a subject, his visual points are examined by an eye-camera. As a result, we see that there are three phases of operation, that is, the decrease of initial deviation, the prevention of over-shoot, and the keeping of stability. Next, the motion of a pendulum is analyzed qualitatively in each phase so as to identify the control rules of a human operator. By this analysis, we see that the intuitive manipulator of the human operator is quite reasonable from the physical viewpoint, and we represent it by some linguistic rules. From these results, we suggest a hierarchical structure of fuzzy rules as a model of a human operator which is verified through experiments on fuzzy control. It is concluded that this fuzzy controller acts as a skilled operator, but its performance is far superior to humans.

The study of human behavior in manual control systems is reevaluated in relation to fuzzy control. Human behavior in this problem means not only physical action but also thinking processes such as cognition, reasoning, optimization decision, and learning. The human performance of this kind is related to the interface. In this paper, we investigate experimentally the effects of an interface on the manual control of a double inverted pendulum. This system is suitable to the study of human behavior, because the stability is changed sensitively with the skills of the subjects and also with the quality of the interface. Besides the general performance of the interface, the effect of prediction is experimented in detail. Then we get some qualitative and quantitative results regarding the prediction interval, the gain constants of manipulation and display, and the prediction error. These results are well explained by a hypothesis of human skillfulness suggested in brain physiology, that is, an action-model is formed in cerebellum after practice and then human action becomes more accurate and quick because of feedforward action by this model.

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After some training, human operators can control manually very unstable objects when some proper informations are given. But they can hardly explain how they do it, because they operate intuitively and not logically. In this paper, we study the human behavior during the control of a double inverted pendulum and identify their control rules experimentally.The motion of a double inverted pendulum is simulated by a micro-computer and some of the state variables are indicated on CRT which are observed by a subject and controlled with key. In order to find which informations are used during the operation by a subject, his visual points are examined by an eye-camera.As the result, we see that there are three phases of operation, that is the decrease of initial deviation, the prevention of over-shoot, the keeping of stability. Next the motion of pendulum is analyzed qualitatively in each phase so as to identify the control rules of human operator. By this analysis, we see that the intuitive manipulation of human operator is quite reasonable from the physical viewpoint, and represent it by some linguistic rules. From these results, we suggest a hierarchical structure of fuzzy rules as a model of human operator which is verified through the experiments of fuzzy control. It is concluded that this fuzzy controller acts as a skilled operator but its performance is much superior to human.