A stabilization fuzzy controller is proposed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model for parallel-type double inverted pendulum system. The controller takes the angle and angular velocity of the two pendulums and the position and moving velocity of the cart as its input items, and the driving force as the output item. The method of determining each SIRM and each dynamic importance degree according to control feature of the pendulum system is shown. It is made clear that by using the SIRMs and the dynamic importance degrees, the controls of the two pendulums and the control of the cart are done in parallel, and the priority orders of the three controls are automatically adjusted according to control situations. Control simulations are done to show the effectiveness of the proposed fuzzy controller.