Two fuzzy controllers defined by 2 input variables cooperate to control a cartpole system in terms of balancing as well as centering. The cooperation is due to the BOXES scheme that selects one of the fuzzy controllers for each time step according to the content of box that is established through the critic of the control action by the fuzzy controllers. It is found that the control scheme is good at controlling the cartpole system so that the system is stabilized fast while the BOXES develops its ability to select proper fuzzy controller through experience.