Double Inverted Pendulum Stability Control

In this paper, taking the double inverted pendulum as plant, optimal control,a fuzzy controller and a variable structure controller are designed to stabilize the double inverted pendulum.The main contents of this paper are the mathematical model of the double inverted pendulum system and the emendation of the model; the simulation of optimal control, fuzzy control and variable structure control based on the model; The effect of the upper and lower pendulum's and the car's mass to the stability of the double inverted pendulum are studied;At last, the double inverted pendulum is controlled stably by fuzzy control, and the result of system is discussed.