In this work, a Fuzzy Linear Quadratic Regulator (FLQR) is developed for the anti-swing control problem of a Double Serial Link Rotary Pendulum (DSLRP) system. The main objective of this paper is to study the anti-swing FLQR controller and compare it with the classical LQR controller. A dynamic mechanical model of the DLRP was simulated numerically in the SimMechanics toolbox/MATLAB. This model can be defined mathematically as the single input and multiple output non-linear dynamic equations. To verify the performance of both anti-swing controllers, different time-domain control specifications are computed. Moreover, to show the controllers performance, simulation and experiments results are given and compared. According to the comparative results, the FLQR anti-swing controller produces better results than classical LQR in term of time-domain control specifications. Moreover, the controllers' dynamic responses were compared according to robustness analysis in the presence of external force disturbance. The results obtained here indicate that the FLQR anti-swing controller product better performance than others in term of vibration suppression capability.