Study On Controlling The Double Inverted Pendulum--Based On The State Feedback And T-S Model

The inverted pendulum is a kind of nonlinear, multivariable and absolutely unstable dynamic system. In the modern control systems, such as helicopter, rocket launching, satellite running, robot lifting, gymnastics and step control of the walking robot and so on, which all referred to the stable control of the inverted pendulum.The inverted pendulum is regarded as the typical experimental equipment and a physical model for the teaching and studying of the control theory. One can not only solve the control theory problem, but also put the mechanics, mathematics and electrics(including computer)together through studying the inverted pendulum. Also the inverted pendulum provides a bridge for the engineering science from the control theory to the practice.The inverted pendulum is an ideal equipment, which enables the possibility to validate the validity and the feasibility of some control theories, The inverted pendulum is a natural unstable equipment and can effectively reflects many matters in the control process. The model of the inverted pendulum is: as an equipment, low cost, simple machinery, easy to perform all kinds of controls in simulation and digital; as a controlled object, quite complex, high orders, instability, non-linearity, strong coupling system. We can keep it stable through some control method.This paper introduces the configure of the double inverted pendulum and establishes the mathematic model. Based on this, we can keep the double inverted pendulum stable through hardware. At the same time, we performed the control of the inverted pendulum in the state feedback and the fuzzy control based on the T-S model using computer.