<p>The cloud models as a mathematical tool to implement the transformation from qualitative to quantitative information and has been represented by Gaussian functions, and the controller design using this Gaussian membership cloud has the disadvantage of being computationally expensive and difficult to analyze in control as a nonlinear operation. Therefore, a controller design method using triangular membership cloud, function expressed as linear operation, is proposed, which has the disadvantage of reducing the control accuracy when the number of partitions of the input and output membership functions is small, and can be overcome by changing the range of cloud input and output variables according to the state change of the plant. In this paper, we propose a controller design method using the variable universe triangular cloud model (VUTCM), which combines the variable universe idea into the controller design using this triangular cloud model, and apply it to real-time control of a rotary parallel inverted pendulum (RPIP) to verify its effectiveness.</p>