The Application Of Fuzzy Neural Network Control In Inverted Pendulum System

Inverted pendulum is a typical model of multivariable, nonlinear, essentially unsteady system, and researching inverted system has the profound meaning in theory and methodology. Researching on inverted pendulum can boil down to the research on nonlinear, multi-variable unsteady system. The article is based on the fuzzy control theory. It controls all the variables in the inverted pendulum with the use of Mamdani FIS and use adaptive neural network to exercise fuzzy control rules. And then it simulates the control process in MATLAB software. The main research contents of this article are as follows:Firstly, it gives a review on the research history of inverted pendulum system. It analyzes the improvement and productions on inverted pendulum system in the last ten years around the world. And it also introduces many control ways on inverted pendulum system.Secondly, it introduces the structure of the inverted pendulum and its application in engineering practice. It establishes the model of the inverted pendulum and deduces the state-space expression of the model.Thirdly, It narrates the basic theory and the application of fuzzy control theory. It introduces the developing history and the application and gives a detailed discuss on the mathematic base and the basic theory of the fuzzy control.Fourthly, it puts stress on the fuzzy control system and fuzzy controller. It analyzes the composing and the features of the fuzzy control system and it provides material steps for fuzzy controller.Fifthly, it introduces the basic theory of neural network and it puts stress on the BP computing ways.Sixthly, it establishes the fuzzy controller with FIS editor in MATLAB software. And it use neural network to exercise the rules of the fuzzy controller. Finally it uses Simulink to establish structure chart of the system in order to control the inverted pendulum system. It uses Scope block to display the wave of all kinds of variables in inverted pendulum system and the effect of the control can be easily seen.