Study On The Double Inverted Pendulum Controlled By Intelligent Predictive Control

The inverted pendulum is a typical model of fast, multi-variable, nonlinear and essentially unsteady system. One can not only solve the control theory problem, but also put the mechanics, mathematics and electrics together through studying the inverted pendulum. Researching stability of inverted pendulum system has the profound meaning in theory and methodology. The research on inverted pendulum can be diverted to the research on nonlinear, multi-variable and unsteady system.In this dissertation, first of all, analyze the meaning of researching the inverted pendulum system, give a summary on the research actuality of inverted pendulum. Then we learn the basic knowledge of intelligent predictive control theory, combine the intelligent control with predictive control.Then giving the mathematical model of double inverted pendulum by Lagrange, and linearizing it at equilibrium position. So we get the balanced state equation. According to theorem about controlled and observed, the double inverted pendulum is controlled and observed. We adopt the Takagi-Sugeno fuzzy model which can approach any nonlinear function with random accuracy to deduce. Divide the input space into nine subspaces. So we can get nine conclusions described by linear equation. Then the controlled quantities are resolved with General Predictive Control. Using the weighted average method we get the final result.Finally, according to the intelligent predictive control based on T-S model, we program with Borland C language to control the double inverted pendulum.