Parallel-coupled Inverted Pendulum Control Law Research

Parallel coupled inverted-pendulum system is a high-ord6r nonlinear large-scale interrelated system. It's construct is complex and there are many parameters in it. Furthermore there always exit parameters perturbation and changes of coupled action .So it is much more difficult to model the system accurately. It often causes a lot of inconvenience when contriving a scheme to stable the system.In this pager the problems above are analyzed and studied extensively and deeply. Modern control theory , large-scale system theory and fuzzy logic control theory are applied to contrive four schemes to control Parallel coupled inverted-pendulum system. Firstly ,the whole system's construct is introduced and then it's approximate linear TIV model is educed and analyzed elementarily. Secondly , I use fuzzy logic control theory to design a control system successfully. Thirdly, large-scale system theory is applied to contriving two schemes of closed-loop hierarchial control and decentralized control. I develop a program for the procedure of the contiving . Lastly, experiments are carried out to test the schemes.lt is glad that the results of the experiments are very good.