| The inverted pendulum system is a typically a ideal model for proving the effectiveness of new control theory and its method stability. In the controlling process, it can effectively reflect many key problems such as stability and tracking in control and so on. In resent years, always is a study hotspot in control field. Studying on inverted pendulum not only has a very important theory significance, but also has a realistic directory meaning in aerospace science and technology and robotics.The linear double inverted pendulum model as control object was selected. The present research condition both of the inverted pendulum stable control and the composition of the control system and the machine structure were firstly described. Based on introducing the present established mathematical model, the method of the mathematical model was done by analyzing the Lagrange equation. As an example of the double inverted pendulum, its mathematical model establishing process was derived in particulars. And, the system characteristic was briefly analyzed.Then, the control methods of inverted pendulum system based on fuzzy control theories were mainly discussed. The pole-placement method, LQR optimizing control were firstly designed to stabilize the double inverted pendulum. The advantages and disadvantages of these controllers were pointed out. For advising the rule explosion in designing fuzzy controller, a fuzzy controller based on blend function was put forward. Its performance was analyzed through simulation. In the end, the success of control of hardware pendulum system proves that these controllers have very good stability.So as to enhance control quality, In this paper choice to design the fuzzy controller by different principal component of blend function. It designed a double-fuzzy controller which is analyzed its performance through simulating.At the end of the paper, the significance of the research and the key point for study in the future were given. |
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