The Research On The Fuzzy Controller In The Application Of Double Inverted Pendulum System

Inverted pendulum system is a typical model of multi-variable, nonlinear, essentially unsteady system, and researching stability of inverted pendulum system has the profound meaning in theory and methodology. The method and thought of inverted pendulum system's control can be extensively used to deal with the industry course.The paper analyzes and summarizes new theories and ideas overseas in recent years such as fuzzy control, neural networks control, hybrid control and so on firstly. Secondly, the paper derives the model of the double inverted pendulum and the state-space expression. Analyzes the stability, controllability and observables and designs the linear regulator, realizes the control of the double inverted pendulum. Because abilities of anti-jamming and robustness of these methods and weak, the author uses fuzzy control to control the double inverted pendulum. The paper introduces synthetic error and synthetic error variety, and reduces the input varieties of fuzzy control, thus reduces the control rule of fuzzy controller, and makes the fuzzy controller simple and effective. Because human factors affect the designs of fuzzy controller, the author introduces a kind of adaptive genetic algorithms, which can optimize the parameters of fuzzy control. Finally, a simulation of the double inverted pendulum system demonstrates the performance of the model and controller.