二级倒立摆模糊控制器设计

he double inverted pendulum is a multivariable,nonlinear control system. The mathmatical model is gained by the Lagrange equation and the stablity is analyzed. On the base of above, the fuzzy controller for double inverted pendulun is designed by the fuzzy control theory. The dimensions and control rules of the fuzzy controller are depressed by designing a fusion function using the optimization control theory. Real-time control proves that the fuzzy controller is effective and feasible.